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

A fixed-wing unmanned aerial vehicle and integrated navigation technology, applied in the field of integrated navigation, can solve the problems of unfavorable rapid take-off, low speed accuracy of satellite positioning system, increased hardware cost, etc., so as to improve launch speed and reliability, save The effect of reducing the cost of hardware equipment in the link of ground course binding

Active Publication Date: 2021-04-13
XIAN MICROELECTRONICS TECH INST
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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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  • A fixed-wing unmanned aerial vehicle integrated navigation method with heading self-stitching
  • A fixed-wing unmanned aerial vehicle integrated navigation method with heading self-stitching
  • A fixed-wing unmanned aerial vehicle integrated navigation method with heading self-stitching

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Embodiment Construction

[0035] Fixed-wing UAVs can be divided into four stages: alignment, takeoff preparation, takeoff, and stable flight;

[0036] During the alignment phase, the UAV is still for about 3 minutes;

[0037] The take-off preparation stage takes a long time, generally lasting 10-20 minutes. During this stage, the UAV is stationary for a long time, but the change of the take-off heading and the operation of personnel before take-off may bring about a small maneuver in the horizontal attitude, and the accumulated heading error at this stage is large. Large and uncorrectable, which is quite unfavorable to the take-off process;

[0038] During the take-off phase, the acceleration of the UAV at the moment of take-off is relatively large, which often causes the satellite positioning system to fail to work normally or the positioning accuracy to decrease. It will return to normal after a period of time. The specific time is related to the take-off process and the performance of the satellite ...

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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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01S19/49
CPCG01C21/165G01S19/49
Inventor 赵建涛翟伟杰雷小娜高鹏赵明艳唐艺菁
Owner XIAN MICROELECTRONICS TECH INST
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