Fault-tolerance autonomous navigation method of multi-sensor of high-altitude long-endurance unmanned plane

Abstract

The invention discloses a fault-tolerance autonomous navigation method of a multi-sensor of a high-altitude long-endurance unmanned plane. The method comprises the following steps of: firstly, carrying out theory analysis on work environment and work characteristics of three navigation sensors including GPS (Global Position System), CNS (astronomy) and SAR (Synthetic Aperture Radar), and establishing an observation linearity measurement equation by combining a geography system based on a position combined observation principle of inertia / GPS, inertia / astronomy and inertia / SAR under an airborne geography system; then analyzing error characteristics of a navigation sensor and simulating the output during the fault of GPS, and establishing a corresponding fault detection algorithm unit to carry out fault detection and isolation on a filter; and finally, designing and completing an inertia / GPS combined navigation system mathematic model based on the assistance of astronomy and SAR, and optimally evaluating the error state of the inertia navigation by means of federated filtering. The invention has high navigation precision, and can fully play the role of evaluating the error state quantity of an airborne inertia navigation system by the combined navigation of the multi-sensor under the geography system.

Description

technical field [0001] The invention relates to a multi-sensor fault-tolerant autonomous navigation method for high-altitude and long-term unmanned aerial vehicles, which belongs to the technical field of integrated navigation of aviation aircraft, and can be applied to the determination of navigation parameters of aircraft for high-altitude and long-term flight, and is suitable for high-altitude and long-term flight Navigation and positioning of aviation aircraft. Background technique [0002] As a high-precision astronomical attitude sensor, the star sensor is more and more widely used in the field of autonomous navigation. The star sensor can directly and accurately measure the attitude information of the aircraft relative to the inertial coordinate system without any external reference information, and its measurement accuracy remains stable throughout the navigation process. The existing highest accuracy can reach the arc-second level. The inertial / astronomical integra...

AI Technical Summary

Problems solved by technology

However, GPS signals are susceptible to electromagnetic interference, which leads to a decrease in INS / GPS positioning accuracy; and GPS is affiliated to the United States. Once a war occurs, GPS signals will be completely lost. At this time, only INS plays a role in the INS / GPS integrated navigation system, and the error will be large. Continuously accumulate, affecting the navigation accuracy of the aircraft

[0005] Therefore, the existing aviation airborne inertial / GPS combined autonomous navigation method has low reliability and unstable navigation accuracy, and cannot fully meet the requirements of high-altitude and long-haul UAVs for navigation accuracy stability.

Images