The invention discloses an unmanned aerial vehicle inertial
navigation model parameter identification method based on robust adaptive filtering. The method comprises the following steps: 1, establishing an unmanned aerial vehicle motion model and a maneuvering action
library; 2, simulating and generating an ideal flight path of the unmanned aerial vehicle; 3, simulating error characteristics of the inertial navigation
assembly to generate a
gyroscope, and adding inertial navigation
assembly output; 4, setting an initial
estimation error value of the navigation
physical quantity of the
inertial navigation system; 5, adding the set
navigation error into the reference trajectory to obtain actual navigation data; step 6, setting an initial parameter of a robust
adaptive filtering algorithm; and the like. According to the method, identification of the
error state quantity of the inertial
navigation model of the unmanned aerial vehicle is realized, a
software platform supporting modeling
simulation and parameter identification of the inertial
navigation model of the unmanned aerial vehicle is also established, and inertial navigation
model parameter identification with good identification precision, real-time performance and reliability is realized; therefore, the inertial navigation model capable of supporting high-fidelity flight autonomous navigation
simulation of the unmanned aerial vehicle is established.