高空长航时无人机高精度自主定位方法

针对传统基于轨道动力学模型及非线性滤波进行间接敏感地平天文导航定位方法在实际应用中的局限性,提出了一种适用于高空长航时无人机自主导航定位的快速间接敏感地平天文解析定位新方法。分析了星光折射视高度天文量测的机理,导出天文三维定位的解析表达式,详细阐述了利用最小二乘微分校正法代替非线性滤波的天文定位方法,通过直接求解非线性量测方程组即可得到飞行器的精确位置信息,并对这种定位方法的定位精度进行了理论分析。该天文定位方法利用了星光折射间接敏感地平精度高的特点,又不需要飞行器动力学模型也不需要任何先验知识,算法简单可靠,计算量小,而定位精度与传统方法相当。最后,通过计算机仿真,验证了这种天文定位方法的有效性。

High Precision Autonomous Localization Method for High Altitude and Long-flight-time of Unmanned Aerial Vehicle

In allusion to the limitation of the traditional navigation and localization method of stellar horizon atmos-pheric refraction based on the orbit dynamics models and nonlinear Kalman filter in practice application,a novel navigation and localization method of rapid stellar horizon atmospheric refraction which is suitable for high altitude and long-flight-time autonomous navigation and localization of unmanned aerial vehicle is proposed.The measure-ment mechanism of celestial navigation is analyzed,based on the measurement equation of the sight-altitude of stellar horizon atmospheric refraction,and the equation of three-dimensional celestial localization using the stellar horizon atmospheric refraction is deduced.The novel celestial localization method is introduced in detail which utilizes the least squares differential correction method instead of the nonlinear Kalman filter.The precise position information of the unmanned aerial vehicle can be obtained by solving the nonlinear measure equation set directly.Moreover,the theoretical analysis of the localization precision of the novel stellar navigation and localization method is given.This stellar localization method uses the characteristics of the stellar horizon atmospheric refraction,and does not need the dynamics model of an aircraft and any prior knowledge.Further more,the proposed method is easy and reliable,the calculation load is lower,while the localization precision is equivalent to the traditional stellar horizon atmospheric refraction method.In the end,the simulation results show the validity of the proposed stellar localization method.