A Beidou three-frequency precision relative navigation method for inertial refueling of unmanned aerial vehicles

Abstract

The invention discloses an inertial assisted Beidou three-frequency precise relative navigation method for unmanned aerial refueling, including a refueling machine and a refueling machine, and the inertial navigation on the refueling machine is tightly combined with the original data of the Beidou satellite navigation system to obtain the real-time position of the refueling machine and attitude information, and transmit them to the receiver through the data link; choose the tanker as the mobile reference station, and the receiver as the rover station, and establish the combined double-difference carrier phase and pseudo-range observation equation; For distance observations, the improved TCAR method is used to establish a short-baseline multipath error model, and the Kalman Filter model with augmented multipath parameters and the LAMBDA method are used to solve and fix the original carrier ambiguity, and the BDS / INS tight combination is performed on the receiver In order to obtain the precise relative navigation parameters of the two carriers. The invention has the beneficial effects of high navigation accuracy, strong real-time performance and high reliability.

Description

technical field [0001] The invention relates to the technical field of inertial / satellite integrated navigation, and more specifically, the invention relates to a method for aerial refueling inertial-assisted Beidou triple-frequency precision relative navigation of an unmanned aerial vehicle. Background technique [0002] Autonomous aerial refueling can greatly improve the endurance of UAVs, which has an extremely important impact on air military power. During the refueling stage, the height, speed and relative position of the oil receiving machine and the tanker must be strictly kept unchanged. When the refueling machine adds a part of the fuel, the weight of the aircraft will increase, while the weight of the refueling machine will decrease. The two aircraft must adjust the speed and attitude of the aircraft at any time to ensure the smooth implementation of refueling. The relative navigation method is the key technology to implement this process. [0003] The traditiona...

AI Technical Summary

Problems solved by technology

However, in the refueling phase of aerial refueling, on the one hand, the receiver aircraft is located under the rear of the bulky tanker, and the satellites are partially blocked, the number of visible satellites is reduced, and the geometry of the satellites is affected, thereby seriously reducing the accuracy of satellite navigation; On the one hand, the refueling and refueling aircraft fly fast, have high dynamics, and the update rate of satellite navigation data is low, which makes it difficult to meet the requirements of real-time navigation

Therefore, the pure satellite navigation system cannot meet the high precision and high reliability requirements of aerial refueling in the refueling stage

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