Bionic polarized light assisted autonomous navigation method for unmanned combat aircraft

A technology of autonomous navigation and aircraft, which is applied in the direction of navigation, navigation, surveying and navigation through speed/acceleration measurement, and can solve problems such as weak autonomy, poor system robustness, and low accuracy

Active Publication Date: 2020-06-05
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to provide an autonomous navigation method for unmanned combat aircraft assisted by bionic polarized light, to form a combined navigation system by assisting the traditional navigation system with bionic polarized light, and solve the problem that the traditional navigation method is not strong in autonomy and time error leads to accurate navigation. low reliability and poor system robustness when observation information is disturbed, so as to improve the autonomous and precise navigation capability of unmanned combat aerial vehicles in complex battlefield environments

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  • Bionic polarized light assisted autonomous navigation method for unmanned combat aircraft
  • Bionic polarized light assisted autonomous navigation method for unmanned combat aircraft
  • Bionic polarized light assisted autonomous navigation method for unmanned combat aircraft

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[0080] As a specific implementation, the kinetic model is:

[0081]

[0082] in, Represent the nonlinear function of the dynamic model, x (t) is the system state vector, w(t) is dynamic noise;

[0083] is the attitude quaternion from the body coordinate system b to the navigation coordinate system n; Indicates the velocity of the UAV in the navigation coordinate system n, and are the eastward speed, northward speed and skyward speed of the UAV, respectively; p n =[λ,L,h] T is the set of longitude, latitude and height of the UAV in the navigation coordinate system n, where λ is the longitude, L is the latitude, h is the height; ε b is the gyroscope bias, ▽ b is the accelerometer bias;

[0084] for differential of is the angular velocity of the UAV in the navigation coordinate system n, represents quaternion multiplication, is the angular rate of the UAV in the body coordinate system b measured by the gyro, is the rotation angular rate of the ea...

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Abstract

The invention discloses a bionic polarized light assisted autonomous navigation method for an unmanned combat aircraft. The method comprises the following steps: establishing a quaternion-based dynamic model of a BPNS / MIMU / VNS autonomous integrated navigation system according to an MIMU navigation subsystem; establishing a first observation model and a second observation model through the VNS navigation subsystem and the BPNS navigation subsystem respectively; and acquiring navigation information of each navigation subsystem, and performing optimal estimation on the kinetic model, the first observation model and the second observation model by using an improved federated CKF filtering method to obtain final navigation information of the unmanned combat aircraft. According to the method, the BPNS is used for assisting the traditional MIMU and VNS, the robust factor is introduced in the filtering process, the influence of abnormal observation is weakened, and the sampling rate and precision of asynchronous observation processing are effectively improved through asynchronous time registration. Therefore, the method has the advantages of strong autonomy, high precision, good reliability and the like, can make up the defects of the existing autonomous navigation technology, and improves the autonomous accurate navigation capability of the unmanned combat aircraft in a complex battlefield environment.

Description

【Technical field】 [0001] The invention belongs to the technical field of navigation, guidance and control, and in particular relates to an autonomous navigation method for an unmanned combat aircraft assisted by bionic polarized light. 【Background technique】 [0002] As an unmanned platform that faces a complex combat environment and is far away from the control base station, the intelligent and autonomous flight of unmanned combat aerial vehicles is one of the core capabilities that must be possessed, and an important support for this core capability is autonomous and precise navigation technology. Autonomous and precise navigation technology is the fundamental guarantee for unmanned combat aerial vehicles to complete the set tasks and realize their value, and it is also one of the main bottlenecks restricting the rapid development of unmanned combat aerial vehicles. [0003] In order to meet the mission requirements of long-endurance continuous combat, high maneuverability...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/16G01C21/20
CPCG01C21/005G01C21/165G01C21/20
Inventor 高兵兵胡高歌
Owner NORTHWESTERN POLYTECHNICAL UNIV
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