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首页> 外文期刊>Aerospace science and technology >In-flight initial alignment for small UAV MEMS-based navigation via adaptive unscented Kalman filtering approach
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In-flight initial alignment for small UAV MEMS-based navigation via adaptive unscented Kalman filtering approach

机译：通过自适应无味卡尔曼滤波方法对基于无人机的小型MEMS导航进行飞行初始对准

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摘要

In this paper, an adaptive unscented Kalman filter for UAV's MEMS-based navigation is derived to realize in-flight initial alignment aided by GNSS (global navigation satellite system) and fulfill data fusion. In the filter, unscented transformation is used to handle strong INS (Inertial Navigation System) model nonlinearity under large misalignment condition due to large and sudden maneuvers, and the technique of optimal adaptive factor is used to resist the influence of noise uncertainty of MIMU (MEMS-based Inertial Measurement Unit) and kinematic model errors. The flight test results indicate the proposed alignment algorithm can complete the initial alignment more quickly and accurately compared with the conventional EKF/UKF-based in-motion alignment approaches, especially when the initial attitude errors are large. As a unified in-flight alignment, it can guarantee the accurate and reliable alignment in situations of either large or small initial attitude errors without model changes for small UAV applications. (C) 2016 Elsevier Masson SAS. All rights reserved.
机译：本文提出了一种用于无人机基于MEMS的导航的自适应无味卡尔曼滤波器，以借助GNSS（全球导航卫星系统）实现飞行中的初始对准并实现数据融合。在滤波器中，无味变换被用于处理由于大而突然的操纵而导致的大失准条件下的强INS（惯性导航系统）模型的非线性，并且使用最佳自适应因子技术来抵抗MIMU（MEMS）噪声不确定性的影响惯性测量单元）和运动学模型误差。飞行测试结果表明，与传统的基于EKF / UKF的运动对准方法相比，所提出的对准算法可以更快，更准确地完成初始对准，尤其是在初始姿态误差较大时。作为统一的飞行对中，它可以保证在初始姿态误差较大或较小的情况下，准确，可靠的对准，而无需为小型UAV应用更改模型。 （C）2016 Elsevier Masson SAS。版权所有。

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  • 来源
    《Aerospace science and technology》 |2017年第2期|73-84|共12页
  • 作者

    Wang Dingjie; Lv Hanfeng; Wu Jie;

  • 作者单位

    Natl Univ Def Technol, Coll Aerosp Sci & Engn, Staff Room Flight Dynam & Control, 47 Yanwachi St, Changsha 410073, Hunan, Peoples R China;

    Natl Univ Def Technol, Coll Aerosp Sci & Engn, Staff Room Flight Dynam & Control, 47 Yanwachi St, Changsha 410073, Hunan, Peoples R China;

    Natl Univ Def Technol, Coll Aerosp Sci & Engn, Staff Room Flight Dynam & Control, 47 Yanwachi St, Changsha 410073, Hunan, Peoples R China;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Low-cost MIMU; In-flight alignment; Robust adaptive filtering; UKF; Unmanned Aerial Vehicle (UAV);

    机译：低成本MIMU;飞行中对准;鲁棒自适应滤波;UKF;无人机（UAV）;

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