| 一种基于两级EKF的9D-MIMU/GPS微型无人机组合导航系统的鲁棒性设计 |
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| 作者姓名： | 赵健康 崔超 朱建斌 |
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| 作者单位： | 上海交通大学 电子信息与电气工程学院上海深圳高速工程顾问有限公司 深圳,上海交通大学 电子信息与电气工程学院上海深圳高速工程顾问有限公司 深圳,深圳高速工程顾问有限公司 |
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| 基金项目： | 国家自然科学基金项目，概率密度估计及非线性滤波融合研究，61673265；国家重点研发计划项目，2016YFC0200400，复杂地形区域大气污染车载和机载邹航观测技术，2016.03~2020.03 |
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| 摘 要： | 本文提出了一种基于两级EKF的9D-MIMU/GPS微型无人机组合导航系统的鲁棒性设计,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,并影响导航系统其它状态量的准确估计的问题,解决了磁强计本身的制造误差、外界硬铁误差、软铁误差以及磁倾角等对导航系统的影响。实验表明,本文的设计能够有效校正磁强计原始测量数据中所包含的误差,并达到与商业导航模块相近的导航状态估计精度。
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| 关 键 词： | 组合导航 EKF MIMU/GPS 无人机 |
| 收稿时间： | 2019/1/31 0:00:00 |
| 修稿时间： | 2019/1/31 0:00:00 |
A robust double-stage EKF design for navigation system of micro UAVs based on 9D-MIMU/GPS |
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| Authors: | ZHAO Jiankang CUI Chao and ZHU Jianbin |
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| Institution: | School of Electronic Information and Electronic Engineering,Shanghai Jiao Tong University,School of Electronic Information and Electronic Engineering,Shanghai Jiao Tong University and Shenzhen High Speed Engineering Consulting Co, Ltd |
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| Abstract: | In this paper, a robust design of 9D-MIMU/GPS integrated navigation system based on two-stage EKF is presented. In view of the problem that magnetometer is susceptible to external interference when it is used in low-cost mini-UAV and affects the accurate estimation of other states of navigation system, and the problems of manufacturing error, external hard iron error, soft iron error and magnetic dip angle of magnetometer are solved. Experiments show that the design of this paper can effectively correct the errors contained in the original measurement data of magnetometer, and achieve the navigation state estimation accuracy similar to that of commercial navigation module. |
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| Keywords: | Integrated Navigation EKF MIMU/GPS UAV |
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