高空长航时无人机组合导航系统研究

【作者】 张楠；

【导师】 罗建军；

【作者基本信息】 西北工业大学 ， 飞行器设计， 2006， 硕士

【摘要】 高空长航时无人机作为一种新型的侦察手段已经在现代战争中起到了越来越重要的作用,而导航系统作为一项关键技术也日益受到重视。本文对高空长航时无人机组合导航系统的方案、模型和算法进行了研究。主要内容包括: (1) 对典型高空长航时无人机—“全球鹰”导航系统的运行环境、配置、总体方案和各子系统方案等进行了跟踪研究;分析了导航系统特点、SINS/GPS/ADS组合导航的传感器配置模式,为我国高空长航时无人机导航系统的研究提供了参考。 (2) 根据高空长航时无人机导航系统的自身需求特点并结合我国卫星导航的实际,提出了我国高空长航时无人机导航系统的总体方案,对SINS/GPS/北斗/ADS组合导航的滤波方案、容错方案进行了分析。当GPS信息可用时系统工作于SINS/GPS/ADS模式,当GPS信息失效或不可用时,组合系统工作于SINS/北斗/ADS模式。 (3) 对高空长航时无人机组合导航系统模型与算法进行了研究:首先建立了捷联惯导系统、GPS导航系统,北斗双星系统、大气数据系统的误差模型;然后根据SINS与GPS不同的组合模式对SINS/GPS/北斗/大气数据组合导航的模型和组合算法进行了设计。 (4) 对SINS/GPS/北斗/ADS组合导航的总体方案、模型和算法进行了仿真,分析了方案的可行性,并对GPS与北斗切换等关键问题进行了分析。更多还原

【Abstract】 As a new reconnaissance tool, High Altitude Long Endurance Unmanned Aerial Vehicle (HALE UAV) has been playing a more and more important role in modem wars. And navigation system has been paid much attention and developed very much as the key technique. In this thesis, the scheme, model and arithmetic of HALE UAV is studied. The main contents are as follows:(1) The navigation system of the typical HALE UAV-"Global Hawk" is analyzed and the scheme and arithmetic is researched. Through the researching the SINS/GPS/ADS integrated mode is gained so that an important example is offered for the research of our HALE UAV navigation system.(2) Based on the special needs of our HALE UAV, a whole scheme is suggested and SINS/GPS/Bei-Dou/ADS navigation system mode is established. SINS/GPS/ADS integrated system is used, When navigation information from GPS is valid, and switch GPS to Bei-Dou when GPS appear the breakdown, SINS/Bei-Dou/ADS is established. And then filtering scheme and FDIR scheme are analyzed.(3) The model and arithmetic of HALE UAV navigation system is researched: error model of the SINS, GPS, Bei-Dou and Air-data system is established. And the different SINS/GPS/Bei-Dou/ADS integrated arithmetic is designed, according to the different integrated mode is used.(4) The scheme and model and arithmetic of INS/GPS/Bei-Dou/ADS is simulated and the feasibility of the scheme is validated. Some of the key problems in GPS and Bei-Dou switch are analyzed.更多还原