摘要
根据SINS/GPS组合导航的基本原理,在一个装有微型化IMU模块的MUAV自驾仪上设计了MUAV的SINS/GPS组合导航系统的联邦滤波算法,并对该导航系统进行了静态和动态实验。实验结果表明:采用联邦Kalman滤波能够有效的消除导航参数误差,提高导航精度。该导航系统可以满足小型无人机的导航要求。
Based on the principle of SINS/GPS integrated navigation,the Federated Kalman Filtering algorithm for SINS/GPS integrated navigation system used in MUAV is presented in a MUAV autopilot with a MIMU.This algorithm is tested in MUAV and experimentalized in static and dynamic conditions.The result of experiments manifests that the navigation accuracy can be dramatically improved and the error of navigation parameters is eliminated by using Federated Kalman filtering.The design is competent for MUAV navigation system.
出处
《科学技术与工程》
北大核心
2013年第3期821-825,834,共6页
Science Technology and Engineering
