Method for optimizing heading measurement precision of unmanned aerial vehicle by dual-antenna data fusion

By constructing an observation quality weighting system and a time-delay sensing heading estimation model, and optimizing the fusion of dual-antenna GNSS data, the problem of insufficient heading calculation accuracy of UAVs was solved, and the adaptability and stability of high-precision heading measurement and navigation positioning were achieved.

CN122083957BActive Publication Date: 2026-06-26NANJING TIANQING AEROSPACE TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
NANJING TIANQING AEROSPACE TECH CO LTD
Filing Date
2026-04-21
Publication Date
2026-06-26

AI Technical Summary

Technical Problem

In existing UAV heading measurement technologies, dual-antenna GNSS orientation technology has not fully optimized signal delay differences, satellite distribution rationality, and dynamic operating condition adaptability, resulting in limited heading calculation accuracy and difficulty in meeting the high-precision requirements in complex scenarios.

Method used

By constructing an observation quality weighting system, combining a time-delay-aware heading estimation model and an adaptive adjustment mechanism, the optimal subset is dynamically selected for time-delay compensation and error feedback, thereby optimizing the dual-antenna data fusion strategy and improving heading calculation accuracy.

Benefits of technology

It achieves high-precision heading measurement and navigation positioning for UAVs under radio waves, ensuring the continuity and robustness of heading measurement, and providing stable and reliable output, especially in complex environments.

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Abstract

The application discloses a dual-antenna data fusion unmanned aerial vehicle heading measurement precision optimization method, and belongs to the technical field of unmanned aerial vehicle navigation and positioning, and comprises the following steps: acquiring a multi-source observation data set, constructing a time delay perception heading estimation model, synchronously estimating a heading angle state, a heading angle change rate and a time delay parameter, and performing time delay compensation and satellite observation quantity dynamic weighted fusion, and outputting a high-precision heading angle estimation value and a joint estimation covariance matrix; combining a dynamic working condition adaptation coefficient, a satellite azimuth angle and an elevation angle to evaluate heading solution precision, constructing a multi-condition joint constraint dynamic selection optimal subset, if satellite signal short-term failure or configuration effect does not reach the standard, combining an IMU angular velocity to perform short-time heading deduction; constructing an adaptive adjustment mechanism and a heading error feedback function, dynamically optimizing error feedback weight and returning real-time error compensation quantity, dynamically adjusting fusion weight and time-varying time delay estimation range, and improving the heading solution precision, continuity and robustness of the unmanned aerial vehicle in a complex environment.
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Citation Information

Patent Citations

  • CN109633722B

  • CN109613585A

  • CN120972221A