| 带FDI算法的无人机组合导航姿态确定控制系统设计 |
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| 引用本文： | 何清华,李乐奇,邹湘伏.带FDI算法的无人机组合导航姿态确定控制系统设计[J].飞机设计,2007,27(1):47-50. |
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| 作者姓名： | 何清华 李乐奇 邹湘伏 |
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| 作者单位： | 中南大学,机电工程学院,湖南,长沙,410083 |
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| 摘 要： | 无人机导航系统的作用是提供导航数据给飞控计算机作为制导和控制用,因为飞控计算机的性能在很大程度上依赖于导航数据,导航系统的某一个错误可能会导致整个无人机的失败,因此,导航系统应具有故障检测和隔离(FDI)算法,介绍了一种用于无人机导航的FDI和低成本的组合导航系统,硬件包括低成本商业用MEMSIMU、GPS接收器、磁力计和导航计算机,软件包括带FDI算法的卡尔曼滤波。
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| 关 键 词： | 故障检测和隔离 GPS/IMU 卡尔曼滤波 无人机 |
| 文章编号： | 1673-4599(2007)01-0047-04 |
| 修稿时间： | 2006年6月7日 |
Design of an Integrated Attitude Determination Navigation System with FDI Algorithm for UAVs |
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| HE Qing-hua,LI Le-qi,ZOU Xiang-fu.Design of an Integrated Attitude Determination Navigation System with FDI Algorithm for UAVs[J].Aircraft Design,2007,27(1):47-50. |
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| Authors: | HE Qing-hua LI Le-qi ZOU Xiang-fu |
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| Abstract: | The role of a navigation system for an UAV is to provide navigation data to the flight control computers for its guidance and control.Since the performances of the flight control computers are highly reliant on navigation data,a fault in the navigation system may lead to a disastrous failure of the UAV.Therefore,the navigation system should possess a fault detection and isolation algorithm.This paper proposes an attitude determination GPS/IMU navigation system with an FDI algorithm for UAVs.Hardware for the proposed navigation system has been developed.The developed hardware comprises a low-cost commercial inertial measurement unit(IMU),GPS receiver,magnetometers and a navigation computer unit.Software includes FDI algorithm for integrity. |
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| Keywords: | fault detection and isolation GPS/IMU kalman filter UAV |
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