摘要
提出了一种基于扩展卡尔曼滤波器(Extended Kalman Filter,EKF)的微型无人机组合导航系统的鲁棒性设计。通过两级EKF算法,充分融合了9轴微型惯性测量单元(9 Degree of Freedom Micro Inertial Measurement Unit,9-D MIMU)及全球定位系统(Global Position System,GPS)的测量信息。针对磁强计在低成本微型无人机上应用时容易受到外界干扰并影响导航系统其他状态量的准确估计的问题,利用磁强计椭球模型校正了磁强计在消费级微型无人机导航系统中的主要误差项,并建立了磁场异常判别机制来调整异常数据在导航系统中的融合权重。实验表明,该设计能够有效校正磁强计原始测量数据中所包含的误差,并抑制异常的磁场测量值对导航系统的影响,增强导航系统的鲁棒性。
A robust design of integrated navigation system for micro-UAV based on Extended Kalman Filter is proposed.Through two-stage EKF algorithm,the measurement information of 9-D MIMU,9 Degree of Freedom Micro Inertial Measurement Unit and Global Position System are fully integrated,aiming at the magnetometer s presence in the system.The application of low-cost micro-UAV is susceptible to external interference and affects the accurate estimation of other states of navigation system.The main error items of magnetometer in the navigation system of consumption-grade micro-UAV are corrected by using magnetometer ellipsoid model,and the magnetic anomaly discrimination mechanism is established to adjust the fusion weight of anomalous data in navigation system.Experiments show that the design can effectively correct the errors contained in the original measurement data of magnetometer,restrain the influence of abnormal magnetic field measurement values on the navigation system,and enhance the robustness of the navigation system.
作者
赵健康
崔超
朱建斌
ZHAO Jiankang;CUI Chao;ZHU Jianbin(School of Electronic Information and Electronic Engineering,Shanghai Jiao Tong University,Shanghai 200240;Shenzhen High Speed Engineering Consulting Co.,Ltd.,Shenzhen 518094)
出处
《飞控与探测》
2019年第2期1-9,共9页
Flight Control & Detection
基金
国家重点研发计划项目(2016YFC0200400)
国家自然科学基金(61673265)
