微小型飞行器惯性组合姿态确定与航路导航研究

构建了微小型飞行器(MAV)导航、制导与控制(GNC)系统。研究了微惯性导航测量单元零偏的温度建模及非正交误差的多位置标定补偿方法,提出微小型飞行器导航、制导与控制系统闭环条件下,利用导航、制导与控制回路的飞行状态特征信息的微惯性组合导航系统滤波算法,根据微小型飞行器飞行状态实时调整卡尔曼滤波器的观测噪声方差,有效提高了动态过程中姿态测量精度和微小型飞行器的飞行平稳度。完成了组合导航系统滤波算法验证飞行试验及自主姿态稳定和航路飞行试验。飞行试验表明:微小型飞行器实现了自主姿态稳定与长距离超视距航路点导航飞行,航路点导航误差小于30 m,惯性组合姿态确定与航路导航系统及算法满足微小型飞行器自主飞行对导航系统的需求。

Research on Inertial Integrated Attitude Determination and Waypoint Navigation for Micro Air Vehicles

The guidance,navigation and control(GNC) system of micro air vehicle(MAV) is constructed.The bias temperature model and the multi-position calibration of nonorthogonal error are investigated.A filtering method of MEMS micro inertial integrated system is proposed using the key information in the GNC close loop.The point of the filter method is real-time adjustment of the observation noise variance matrix according to flight states of MAV,which improves the attitude accuracy and the stability of the MAV in the dynamic flight.Flight tests demonstrate the achievement in the autonomous attitude stabilization and beyond-visual-range waypoint navigation with an error of less than 30 m,and also indicate that the micro inertial integrated attitude determination and waypoint navigation sys-tem and algorithm satisfy the needs of MAVs.