摘要
针对传统导航系统自主性差、抗电磁干扰能力弱的问题,本文提出一种基于天空光偏振模式的仿生导航方案。利用自主研发的偏振光传感器实现导航定向功能,并结合惯性测量单元设计了一种导航姿态最优化解算方法。现有的姿态最优化求解策略一般是采用步长固定的搜索算法,但是其直接影响了运动状态下姿态估计的准确性,为此本文采取动态步长搜索机制。实验结果表明:本文提出的算法能有效抑制陀螺仪漂移误差,而且对高频噪声干扰有明显滤除效果,表现出良好的静态性能;同时,本文提出的方法较常规算法具有更高的动态精度,进一步提高了偏振光导航系统的稳定性与可靠性,为无人机飞行控制提供更准确的参数信息。
This paper proposes a bionic navigation scheme based on skylight polarization mode,in terms of the problems of poor autonomy and weak anti-electromagnetic interference capability of traditional navigation systems.Taking advantage of the independently developed polarized-light sensor to realize navigation,an attitude optimization method is designed with the inertial measurement unit(IMU).The existing attitude optimization algorithm is generally a fixed-step search algorithm,however,this directly affects the accuracy of attitude determination in motion,which results in taking a dynamic step search mechanism.The experiment results show that the algorithm proposed in this paper can effectively suppress the gyroscope drift error,and can represent an obvious filtering effect on high frequency noise interference,which shows good static performance of the system.Meanwhile,the proposed method has higher dynamic precision than conventional algorithms,which improves the stability and reliability of the polarized-light navigation system,and provides more precision parameter information for flight control of UAV.
作者
金仁成
谢林达
褚金奎
蔚彦昭
魏巍
Jin Rencheng;Xie Linda;Chu Jinkui;Wei Yanzhao;Wei Wei(School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China)
出处
《航空兵器》
CSCD
北大核心
2020年第1期39-45,共7页
Aero Weaponry
基金
国家重点基础研究发展计划(973计划)(2011CB302101
2011CB302105)
中央高校基本科研业务费专项资金资助项目(DUT19LAB11)
关键词
偏振模式
仿生导航
优化
动态步长
姿态解算
polarization mode
bionic navigation
optimization
dynamic step
attitude determination
