【作者】 孙唯； 张瀚轩； 向文豪； 霍炬；

【Author】 Sun Wei;Zhang Hanxuan;Xiang Wenhao;Huo Ju;Harbin Institute of Technology Control and Simulation Center;System Engineering Research Institute;

【机构】 哈尔滨工业大学控制与仿真中心； 中国船舶工业系统工程研究院；

【摘要】 舰载无人机以低成本、体积小、作战灵活等优势得到世界各国海军的广泛认可。针对舰载无人机实际应用中的需求,设计一种低成本、高精度、可靠的应用于舰载无人机舰上位姿参数测量方法。首先分析捷联惯性导航系统(SINS)的力学编排和误差模型;再利用卡尔曼滤波器建立GPS/SINS组合导航系统,并给出系统的状态方程和量测方程;最后通过仿真实验验证了组合导航系统克服了SINS的误差累积问题,提高了系统导航精度和可靠性。更多还原

【Abstract】 Shipborne UAVs have been widely recognized by the navies of all countries in the world for their advantages of low cost, small size and flexible operation. Aiming at the practical application requirements of shipborne UAV, a low-cost, high-precision and reliable measurement method for shipborne position and pose parameters was designed. Firstly, the mechanical arrangement and error model of SINS are analyzed. The GPS/SINS integrated navigation system is established by Kalman filter,and the state equation and measurement equation of the system are given. Finally, the simulation experiment proves that the integrated navigation system overcomes the problem of SINS error accumulation and improves the navigation accuracy and reliability of the system.更多还原