Anti-GPS-failure orientation method for fixed-wing unmanned aerial vehicle

Abstract

The invention relates to an anti-GPS-failure orientation method for a fixed-wing unmanned aerial vehicle, and particularly relates to an orientation and attitude determination method after a GPS failure of a low-cost integrated navigation system of a fixed-wing unmanned aerial vehicle. In each computation period, inertial measurement data updates the heading and the attitude of the present fixed-wing unmanned aerial vehicle through a strapdown navigation algorithm. Different information fusion filters are adopted according to determination based on the present motion characteristics of the fixed-wing unmanned aerial vehicle, wherein a triaxial magnetic sensor and a triaxial accelerometer determine that Kalman smoothing is performed by adopting the heading and attitude optimum quaternion as an observation value under static or low-dynamic maneuvering conditions, and Kalman smoothing is performed by adopting measured data of the triaxial magnetic sensor as an observation value under large maneuvering conditions. According to the Kalman smoothing results, the inertial measurement unit error is corrected and the navigation data and filter parameters are updated, and a next computation period is started. The method can be used for fixed-wing unmanned aerial vehicle navigation systems comprising the GPS, the inertial measurement unit and the triaxial magnetic sensor.

Description

technical field [0001] The invention relates to an orientation method for anti-GPS failure fixed-wing unmanned aerial vehicles. The man-machine provides credible orientation and attitude information in the event of GPS failure. The invention can be used in any fixed-wing unmanned aerial vehicle navigation system including GPS, inertial measurement unit and three-axis magnetic sensor. Background technique [0002] GPS is an important navigation device for fixed-wing UAVs. It not only provides position and velocity information of fixed-wing UAVs, but also fuses with inertial measurement unit information to provide heading and attitude information for fixed-wing UAVs. However, GPS, whose main technical feature is radio ranging and speed measurement, is hard to avoid being affected by many random factors such as atmospheric instability, signal transmission occlusion, multipath interference, etc., and its reliability and accuracy are often reduced or even invalidated. Inaccurat...

AI Technical Summary

Problems solved by technology

However, at present, the two types of navigation equipment work separately. In the case of GPS failure, the error of the inertial measurement unit accumulates rapidly over time due to the lack of correction information, and cannot provide a credible heading attitude; the three-axis magnetic sensor is also unable to provide reliable attitude information due to the lack of reliable attitude information. gives the effective magnetic heading

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