【摘要】 基于无人机DR/GPS/RP组合导航中的风场干扰问题,提出了一种利用位置矢量合成关系进行在线风场估计与航迹修正的方法,并提出了利用Shannon采样原理确定风场估计步长的方法。仿真结果表明:该方法不但能较准确地估计出干扰风场的信息,从而抑制自主导航DR受风场干扰的推算发散,而且能够大大提高系统组合导航的精度,改善无人机导航的抗风场干扰能力。更多还原

【Abstract】 To deal with wind field disturbance in DR/GPS/RP integrated navigation of UAV, a method of wind field estimation and trajectory correction online based on the relation of position vector was proposed. In addition, in order to obtain more accurate wind field information, a method about estimating the calculation step considering Shannon sampling theory was introduced. The results of simulation and experiments show that the method above can accurately estimate the wind field and thus restrain the divergence of DR and improve the accuracy of integrated navigation and the ability of anti-disturbance.更多还原