Combined navigation method based on INS (inertial navigation system)/GPS (global position system)/SAR (synthetic aperture radar)

A joint navigation and GPS receiver technology, applied in the field of target recognition and navigation information, can solve the problems of small drone body, GPS signal is easily interfered, and low flight altitude, and achieves fault tolerance and poor autonomy. And strong anti-interference, improve the effect of fault tolerance

Inactive Publication Date: 2015-07-15
HENAN POLYTECHNIC UNIV
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Problems solved by technology

When INS/GPS navigation is used, the redundant information provided by the INS and GPS navigation systems is limited, resulting in a weak system fault tolerance
Moreover, because the GPS signal is easily interfered and my country does not have the ownership of GPS, the navigation

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  • Combined navigation method based on INS (inertial navigation system)/GPS (global position system)/SAR (synthetic aperture radar)

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[0021] Such as figure 1 As shown, an INS / GPS / SAR-based joint navigation method of the present invention includes the following steps:

[0022] (1) Install the INS, GPS receiver and SAR sensor in parallel to the appropriate position on the UAV; the INS / GPS / SAR integrated navigation system is composed of target recognition and navigation information fusion; the target recognition part is composed of target template, Image matching and SAR sensor composition; navigation information fusion part is composed of INS, GPS receiver, SAR sensor, image matching, digital map database, SAR viewing area and positioning parameter calculation, and filters; among them, the digital map database stores the flight area Terrain height information, obstacle target location information, threat area information, landmark information;

[0023] (2) Match the corrected SAR real-time image with the map corresponding to the SAR surveying area queried from the digital map database to obtain the position and he...

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Abstract

A combined navigation method based on an INS (inertial navigation system)/GPS (global position system)/SAR (synthetic aperture radar) comprises steps as follows: an INS receiver, a GPS receiver and an SAR sensor are mounted in appropriate positions of an unmanned aerial vehicle in parallel; image matching is performed, and position navigation deviation of the INS is obtained and taken as an observed quantity to be input into a filter, and the observed quantity and other observed quantities are jointly filtered; GPS measuring deviation is obtained and taken as an observed quantity to be input into the filter, and the observed quantity and other observed quantities are jointly filtered; the filter integrates the measuring deviation from the GPS and the position navigation deviation, obtained through image matching, from the INS, and a navigation error estimated value is calculated. Topographic features are automatically and reliably extracted from an SAR image, a map image is formed in a digital map, and the SAR topographic features are automatically predicted; topographic deviation is accurately estimated and integrated; capture and matching are automatically initialized; the fault tolerance capability, the autonomy and the reliability of navigation are high.

Description

technical field [0001] The invention belongs to the technical field of target recognition and navigation information, and in particular relates to a joint navigation method based on INS / GPS / SAR. Background technique [0002] At present, UAV-borne SAR (Synthetic Aperture Radar) data acquisition systems mostly use INS (Inertial Navigation) / GPS (Global Positioning System) navigation methods. When INS / GPS navigation is used, the redundant information provided by INS and GPS navigation systems is limited, resulting in a weak system fault tolerance. Moreover, because the GPS signal is easily interfered and my country does not have the ownership of GPS, the navigation system is unstable and the autonomy is weak. [0003] For the UAV-borne SAR data acquisition system, due to the small body of the UAV, the low flying height, and the great influence of the air flow, its motion stability is difficult to achieve the motion state required by SAR imaging. Therefore, during the data acqu...

Claims

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Application Information

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IPC IPC(8): G01S19/45G01S19/47G01S13/90G01C21/16
CPCG01C21/165G01S13/90G01S19/47
Inventor 李长春郭增长王双亭张合兵李建委
Owner HENAN POLYTECHNIC UNIV
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