A fixed-wing unmanned aerial vehicle integrated navigation method with heading self-stitching

Abstract

The invention discloses a fixed-wing unmanned aerial vehicle combined navigation method with heading self-binding. For the flight environment of the four stages of alignment, take-off preparation, take-off and stable flight, the horizontal attitude alignment is firstly carried out; and then the take-off preparation stage is carried out. Ground integrated navigation ensures stable navigation when the UAV has attitude maneuvers before take-off; during the take-off phase, the high precision of the take-off phase is guaranteed through take-off judgment, pure inertial navigation, pure inertial navigation time judgment, satellite positioning system reliability judgment and heading binding Navigation and the smooth transition of each stage; finally, flight integrated navigation is performed in the stable flight stage to complete high-precision and stable navigation in the subsequent process. The invention can reduce the cost of hardware equipment, simplify the operation before take-off, improve the rapidity and reliability of launch, and improve the cost advantage, rapidity and reliability of the fixed-wing unmanned aerial vehicle.

Description

technical field [0001] The invention belongs to the technical field of integrated navigation, and in particular relates to a fixed-wing unmanned aerial vehicle integrated navigation method with heading self-binding. Background technique [0002] With the upgrading of fixed-wing UAVs in terms of speed, low cost, and strike accuracy, the control system has higher and higher requirements for integrated navigation. [0003] In the past, the fixed-wing UAV integrated navigation system usually used two schemes to complete the course binding. One is to bind the course on the ground before take-off. This scheme has high accuracy of course binding, but the operation process is complicated, which increases the hardware cost and is not conducive to fast take-off. After the course is bound, it must take off in a short time, or Re-book the heading before take-off to prevent excessive heading drift errors; another solution is to use the speed of the satellite positioning system to calcul...

AI Technical Summary

Problems solved by technology

One is to bind the course on the ground before take-off. This scheme has high accuracy of course binding, but the operation process is complicated, which increases the hardware cost and is not conducive to fast take-off. After the course is bound, it must take off in a short time, or Re-book the heading before take-off to prevent excessive heading drift errors; another solution is to use the speed of the satellite positioning system to calculate the heading angle at the moment of take-off, and bind it to the integrated navigation system. This solution is simple to operate, but due to the When the UAV takes off, the dynamics are high, and the jerk is large, so the speed accuracy of the satellite positioning system at the moment of take-off is not high, and even the positioning cannot be performed. poor reliability

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