摘要
针对GPS信号丢失导致组合导航算法精度降低甚至发散的难题,开展一种高效的自适应平滑切换融合算法研究。在GPS信号正常情况下,采用基于GPS量测的高阶组合导航算法估计姿态信息;在GPS信号丢失时,停止高阶滤波算法并切换为基于四元数的低阶姿态估计算法;当GPS信号恢复后,将低阶姿态估计算法的估计值作为高阶滤波算法初值,实现姿态估计算法的平滑切换。仿真结果和试飞试验表明,该切换策略具有较好的估计精度和可实现性,且切换过程中姿态角跳变小于0.5°,收敛时间小于0.1 s,有效地提高了有、无GPS信号情况下无人机的姿态估计精度。
When GPS signals are lostthe accuracy of the integrated navigation algorithm will decrease.To solve the probleman efficient adaptive smooth switching fusion algorithm is proposed.When the GPS signal is under normal conditionsa high-order integrated navigation algorithm based on GPS measurement is used to estimate UAV attitude.When the GPS signal is lostthe high-order filtering algorithm is terminated and switched to a low-order attitude estimation algorithm based on quaternion.When the GPS signal is restoredthe estimated value of the low-order attitude estimation algorithm is taken as the initial value of the high-order filtering algorithmso as to realize smooth switching between the two attitude estimation algorithms.Simulation results and flight tests show that the switching strategy has good estimation accuracy and feasibilityattitude angle jumping is less than 0.5°during the switching processand the convergence time is less than 0.1 swhich effectively improve the accuracy of UAV attitude estimation with or without GPS signals.
作者
桑标
郭剑东
刘春生
SANG Biao;GUO Jiandong;LIU Chunsheng(Nanjing University of Aeronautics and Astronautics,College of Automation,Nanjing 210000,China;Nanjing University of Aeronautics and Astronautics,Key Laboratory of Advanced Technology for Small and Medium-Sized UAV,Ministry of Industry and Information Technology,Nanjing 210000,China)
出处
《电光与控制》
CSCD
北大核心
2021年第10期11-15,共5页
Electronics Optics & Control
基金
中央高校基本科研业务费专项资金(56XCA1816504)。
