CN103994766A - Anti-GPS-failure orientation method for fixed-wing unmanned aerial vehicle - Google Patents

Anti-GPS-failure orientation method for fixed-wing unmanned aerial vehicle Download PDF

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CN103994766A
CN103994766A CN201410197198.7A CN201410197198A CN103994766A CN 103994766 A CN103994766 A CN 103994766A CN 201410197198 A CN201410197198 A CN 201410197198A CN 103994766 A CN103994766 A CN 103994766A
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fixed
wing unmanned
gps
unmanned plane
inertial measurement
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盛蔚
孙丁圣
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Beihang University
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Beihang University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

The invention relates to an anti-GPS-failure orientation method for a fixed-wing unmanned aerial vehicle, and particularly relates to an orientation and attitude determination method after a GPS failure of a low-cost integrated navigation system of a fixed-wing unmanned aerial vehicle. In each computation period, inertial measurement data updates the heading and the attitude of the present fixed-wing unmanned aerial vehicle through a strapdown navigation algorithm. Different information fusion filters are adopted according to determination based on the present motion characteristics of the fixed-wing unmanned aerial vehicle, wherein a triaxial magnetic sensor and a triaxial accelerometer determine that Kalman smoothing is performed by adopting the heading and attitude optimum quaternion as an observation value under static or low-dynamic maneuvering conditions, and Kalman smoothing is performed by adopting measured data of the triaxial magnetic sensor as an observation value under large maneuvering conditions. According to the Kalman smoothing results, the inertial measurement unit error is corrected and the navigation data and filter parameters are updated, and a next computation period is started. The method can be used for fixed-wing unmanned aerial vehicle navigation systems comprising the GPS, the inertial measurement unit and the triaxial magnetic sensor.

Description

A kind of anti-GPS inefficacy fixed-wing unmanned plane orientation method
Technical field
The present invention relates to a kind of anti-GPS inefficacy fixed-wing unmanned plane orientation method, the method be take low-cost Inertial Measurement Unit and three axle quadrature Magnetic Sensors and is determined appearance sensor as directed, adopt the thinking of double filter information fusion, for fixed-wing unmanned plane provides believable orientation to determine appearance information in GPS failure conditions.The present invention can be used in the fixed-wing UAV Navigation System of any GPS of comprising, Inertial Measurement Unit and magnetic sensor.
Background technology
GPS is the important navigator of fixed-wing unmanned plane, and fixed-wing unmanned plane position and velocity information are not only provided, but also provides fixed-wing unmanned plane course and attitude information with Inertial Measurement Unit information fusion.But the radio distance-measuring of take is tested the speed and as the GPS of technical characteristics, is difficult to avoid being subject to the impact of many enchancement factors such as atmosphere is unstable, signal transmission is blocked, multipath interference, and reliability and precision usually reduce inefficacy even.The inaccurate GPS+ Inertial Measurement Unit that must affect of positioning-speed-measuring information merges directed precision of determining appearance, and directed accuracy of attitude determination and reliability direct relation UAV Flight Control safety.Therefore the directed method for determining posture of developing anti-GPS inefficacy becomes the necessary ways that improve fixed-wing unmanned plane reliability.
Fixed-wing unmanned plane is generally also installed Inertial Measurement Unit and magnetic sensor two class navigator except GPS.Gyro in Inertial Measurement Unit obtains three dimensional angular velocity information, and the accelerometer in Inertial Measurement Unit obtains three-dimensional acceleration information; Magnetic sensor sensing terrestrial magnetic field is in the projection components of three-dimensional.But the discrete work of current two class navigator, Inertial Measurement Unit error control information and Rapid Accumulation in time cannot provide believable course attitude for want of under GPS failure conditions; Magnetic sensor also cannot provide effective magnetic heading in default of believable attitude information.The present invention is directed to the problem of Inertial Measurement Unit and the discrete work of magnetic sensor, propose to adopt the Dual Kalman filtering device information fusion method based on fixed-wing unmanned plane kinetic characteristic, under GPS failure conditions, still can proofread and correct Inertial Measurement Unit error, make it that believable attitude is provided, support magnetic sensor to provide effective magnetic heading simultaneously.Meet the demand that fixed-wing unmanned plane safe flight is controlled.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, a kind of anti-GPS inefficacy fixed-wing unmanned plane orientation method is provided.
Technical solution of the present invention is: a kind of anti-GPS inefficacy fixed-wing unmanned plane orientation method, is characterized in that comprising the following steps:
(1) based on GPS, receive star number amount, velocity accuracy and positional precision, during fixed-wing unmanned plane during flying, constantly detect GPS and whether lost efficacy, if GPS did not lose efficacy, continue normal Navigator; If GPS lost efficacy, enter GPS inefficacy orientation and determine appearance mode of operation.
(2) GPS determined the GPS directed appearance mode of operation original state of determine that lost efficacy with GPS valid period navigation data after losing efficacy immediately, guaranteed that fixed-wing unmanned plane is in the GPS front and back navigation data continuity that lost efficacy.
(3), at each computation period, three-dimensional orthogonal angular velocity and the acceleration analysis data of first utilizing Inertial Measurement Unit to provide, through strap-down navigation algorithm, the current fixed-wing unmanned plane of real-time update course attitude, speed and position.
(4) according to fixed-wing unmanned plane, different information fusion methods is taked in current kinetic characteristic judgement, the main size of considering fixed-wing unmanned plane three-axis moving acceleration: acceleration of motion surpasses setting threshold value and thinks that the motion of fixed-wing unmanned plane belongs to large motor-driven situation, otherwise thinks that fixed-wing unmanned plane is in static or low current intelligence.
(5) if fixed-wing unmanned plane is static or low dynamic mobility situation, with magnetic sensor and 3-axis acceleration, count as basis, adopt the mode of Optimizing Search to determine the optimum hypercomplex number of course attitude, take this optimum hypercomplex number is observed quantity, builds four-dimensional observed quantity Kalman filter model.
(6) motor-driven greatly if fixed-wing unmanned plane is done, take magnetic sensor as observed quantity, build three-dimensional observation amount Kalman filter model.
(7) by two kinds of Kalman filter status variable estimated values, proofread and correct device error and the navigation error of Inertial Measurement Unit.
(8) above-mentioned steps iteration double counting.
Principle of the present invention is: the effect that GPS brings into play in fixed-wing unmanned plane comprises directly provides position, velocity information, and indirect and Inertial Measurement Unit information fusion provides course attitude information.After GPS loses efficacy, Inertial Measurement Unit worked alone, and error is Rapid Accumulation in time, and believable course attitude information cannot be provided.The present invention has utilized the motion sensor outside GPS and Inertial Measurement Unit---magnetic sensor, and sensing magnetic field of the earth is as observed quantity, the approach that provides error to suppress for Inertial Measurement Unit by information fusion filtering device.The concrete form of information fusion filtering device changes along with the kinetic characteristic of fixed-wing unmanned plane, in the static or low dynamic mobility situation of fixed-wing unmanned plane, take magnetic sensor and 3-axis acceleration counts and as basis, determines the optimum hypercomplex number of course attitude, and adopting optimum hypercomplex number is that observed reading is carried out Kalman filtering; In the large motor-driven situation of fixed-wing unmanned plane, adopting magnetic sensor measurement data is that observed reading is carried out Kalman filtering; According to Kalman filtering calibration of the output results Inertial Measurement Unit error, upgrade navigation data and filter parameter.Realization is directed and determine appearance function under GPS failure conditions.
The present invention's advantage is compared with prior art: take low-cost, MEMS technique Inertial Measurement Unit and low cost, MEMS technique three axle quadrature Magnetic Sensors determines appearance sensor as directed, meets the low-power consumption of unmanned aerial vehicle onboard electronic equipment, small size, lightweight quantitative limitation.GPS determined the directed original state of determining appearance mode of operation of GPS inefficacy with GPS valid period navigation data after losing efficacy immediately, guaranteed the data continuity of fixed-wing unmanned plane before and after GPS lost efficacy.According to fixed-wing unmanned plane, different information fusion methods is taked in current kinetic characteristic judgement, the main size of considering fixed-wing unmanned plane three-axis moving acceleration: acceleration of motion surpasses setting threshold value and thinks that the motion of fixed-wing unmanned plane belongs to large motor-driven situation, otherwise thinks that fixed-wing unmanned plane is in static or low current intelligence.In same set of fixed-wing UAV Navigation System, move two wave filters: in each iterative computation step simultaneously, for different motion characteristic, select to adopt suitable filter form, improve the precision of Inertial Measurement Unit and magnetic sensor information fusion, for fixed-wing unmanned plane provides believable orientation, determined appearance information.
Accompanying drawing explanation
Fig. 1 is the directed method for determining posture process flow diagram of anti-GPS inefficacy fixed-wing unmanned plane double filter of the present invention.
Embodiment
As shown in Figure 1, concrete grammar of the present invention is as follows:
Whether 1, during fixed-wing unmanned plane during flying, constantly detect GPS lost efficacy:
If μ is GPS failure threshold, K, δ l, δ v is respectively and receives a star number, positioning error, range rate error, if K>=4 and think that GPS normally works, otherwise think that GPS lost efficacy.
2, GPS judged UAV Maneuver characteristic: a after losing efficacy x, a y, a zrepresent unmanned plane three axis accelerometer measured value, unmanned plane is in large motor-driven situation; Otherwise unmanned plane is in static or low current intelligence, 1.125 is normalized motor-driven judgement thresholding.
3, GPS determined the directed original state of determining appearance mode of operation of GPS inefficacy with GPS valid period navigation data after losing efficacy immediately, guaranteed the data continuity of fixed-wing unmanned plane before and after GPS lost efficacy:
L noGPS, λ noGPS, H noGPS, VE noGPS, VN noGPS, VU noGPS, θ noGPS, γ noGPSrepresent latitude after GPS lost efficacy, longitude, highly, east orientation speed, north orientation speed, day to navigational parameters such as speed, course angle, the angle of pitch, roll angles,
L gPS, λ gPS, H gPS, VE gPS, VN gPS, VU gPS, θ gPS, γ gPSthe corresponding navigational parameter that represents GPS normal condition.After losing efficacy, navigational parameter was initialized as
L noGPS＝L GPS,λ noGPS＝λ GPS,λ noGPS＝λ GPS
VE noGPS＝VE GPS,VN noGPS＝VN GPS,VU noGPS＝VU GPS
θ noGPS＝θ GPS,γ noGPS＝γ GPS
4, three-dimensional orthogonal angular velocity and the acceleration analysis data of utilizing Inertial Measurement Unit to provide, through standard strap inertial navigation algorithm, direction cosine matrix corresponding to attitude upgraded in the current fixed-wing unmanned plane of real-time update course attitude, speed and position simultaneously
5, setting Kalman filter status variable is
ε wherein x, ε y, ε zrepresent the gyro zero of three directions of body axis system partially.The state equation form of two wave filters is consistent: X=FX+GW, W=W[3 * 1] be system noise, state-transition matrix F=F 6 * 6with system noise factor battle array G=G[6 * 3] in except following element, be neutral element:
F 12＝ω iesin(L noGPS)+VE noGPStan(L noGPS)/(R n+h)
F 13＝-ω iecos(L noGPS)-VE noGPS/(R n+h)
F 21＝-F 12
F 23＝-VN noGPS/(R m+h)
F 31＝-F 13
F 32＝-F 23
F 14 = C b n [ 1,1 ]
F 15 = C b n [ 1 , 2 ]
F 16 = C b n [ 1,3 ]
F 24 = C n n [ 2,1 ]
F 25 = C b n [ 2,2 ]
F 26 = C b n [ 2,3 ]
F 34 = C b n [ 3,1 ]
F 35 = C b n [ 3,2 ]
F 36 = C b n [ 3,3 ]
G [ 1,1 ] = C b n [ 1,1 ]
G [ 1 , 2 ] = C b n [ 1,2 ]
G [ 1,3 ] = C b n [ 1,3 ]
G [ 2,1 ] = C b n [ 2,1 ]
G [ 2,2 ] = C b n [ 2,2 ]
G [ 2,3 ] = C b n [ 2,3 ]
G [ 3,1 ] = C b n [ 3,1 ]
G [ 3,2 ] = C b n [ 3,2 ]
G [ 3,3 ] = C b n [ 3,3 ]
6, two wave filter observation equations adopt multi-form: Z a=H ax+V aand Z b=H bx+V b.
7, or low dynamic motion situation static for unmanned plane, counts based on three axle magnetic compasses and 3-axis acceleration, adopts standard newton gradient search algorithm to obtain the observed quantity Z of A wave filter a=Z a[4 * 1]=[q 0, q 1, q 2, q 3] t, q i, i=0 ..., 3 is optimum attitude hypercomplex number.
8, for the large motor-driven situation of unmanned plane, h bx, h by, h bzfor the measured value of body axis system three axle magnetic compasses, the observed quantity of B wave filter is Z b=Z b[3 * 1]=[h bx, h by, h bz] t.
9, A, B wave filter adopt standard Kalman filter estimated state variable X, obtain fixed-wing unmanned plane course, attitude and gyro zero partially.
10, in GPS paralysis period iteration, repeat said process.

Claims (10)

1. an anti-GPS inefficacy fixed-wing unmanned plane orientation method, is characterized in that: take low-cost Inertial Measurement Unit and three axle quadrature Magnetic Sensors determines appearance sensor as directed; At each computation period, Inertial Measurement Unit data, through strap-down navigation algorithm, are upgraded current fixed-wing unmanned plane course attitude and other navigation datas; According to the current kinetic characteristic of fixed-wing unmanned plane, different information fusion methods is taked in judgement: in the static or low dynamic mobility situation of fixed-wing unmanned plane, take magnetic sensor and 3-axis acceleration counts and as basis, determine the optimum hypercomplex number of course attitude, and adopting optimum hypercomplex number is that observed reading is carried out Kalman filtering; In the large motor-driven situation of fixed-wing unmanned plane, adopting magnetic sensor measurement data is that observed reading is carried out Kalman filtering; According to Kalman filtering calibration of the output results Inertial Measurement Unit error, upgrade navigation data and filter parameter; Enter the next double counting cycle.
2. a kind of anti-GPS inefficacy fixed-wing unmanned plane orientation method according to claim 1, it is characterized in that: during fixed-wing unmanned plane during flying, constantly detect GPS and whether lost efficacy, the examination criteria whether GPS lost efficacy not only considers to receive star number amount, also comprises velocity accuracy and positional precision.If GPS did not lose efficacy, continue to enter normal Navigator; If GPS lost efficacy, enter step described in the inventive method.
3. a kind of anti-GPS inefficacy fixed-wing unmanned plane orientation method according to claim 1, it is characterized in that: GPS determined the directed original state of determining appearance mode of operation of GPS inefficacy with GPS valid period navigation data after losing efficacy immediately, guarantee the data continuity of fixed-wing unmanned plane before and after GPS lost efficacy.
4. a kind of anti-GPS inefficacy fixed-wing unmanned plane orientation method according to claim 1, it is characterized in that: take low-cost, MEMS technique Inertial Measurement Unit and low cost, MEMS technique three axle quadrature Magnetic Sensors determines appearance sensor as directed, meets the low-power consumption of unmanned aerial vehicle onboard electronic equipment, small size, lightweight quantitative limitation.
5. a kind of anti-GPS inefficacy fixed-wing unmanned plane orientation method according to claim 1, it is characterized in that: at each computation period, first three-dimensional orthogonal angular velocity and the acceleration analysis data of utilizing Inertial Measurement Unit to provide, through strap-down navigation algorithm, the current fixed-wing unmanned plane of real-time update course attitude, speed and position.
6. a kind of anti-GPS inefficacy fixed-wing unmanned plane orientation method according to claim 1, it is characterized in that: according to fixed-wing unmanned plane, different information fusion methods is taked in current kinetic characteristic judgement, the main size of considering fixed-wing unmanned plane three-axis moving acceleration: acceleration of motion surpasses setting threshold value and thinks that the motion of fixed-wing unmanned plane belongs to large motor-driven situation, otherwise thinks that fixed-wing unmanned plane is in static or low current intelligence.
7. a kind of anti-GPS inefficacy fixed-wing unmanned plane orientation method according to claim 1, it is characterized in that: if fixed-wing unmanned plane is static or low dynamic mobility situation, with magnetic sensor and 3-axis acceleration, count as basis, adopt the mode of Optimizing Search to determine the optimum hypercomplex number of course attitude, take this optimum hypercomplex number as four-dimensional observed reading, build four-dimensional observed quantity Kalman filter model.
8. a kind of anti-GPS inefficacy fixed-wing unmanned plane orientation method according to claim 1, it is characterized in that: motor-driven greatly if fixed-wing unmanned plane is done, now accelerometer data is not suitable for and determines course attitude, only take magnetic sensor as three-dimensional observation value, build three-dimensional observation amount Kalman filter model.
9. a kind of anti-GPS inefficacy fixed-wing unmanned plane orientation method according to claim 1, it is characterized in that: two kinds of Kalman filter status variablees are identical, no matter adopt which kind of information fusion method can both unify to estimate and proofread and correct device error and the navigation error of Inertial Measurement Unit.
10. a kind of anti-GPS inefficacy fixed-wing unmanned plane orientation method according to claim 1, is characterized in that: the method for the invention is in the iteration double counting all the time of GPS paralysis period.
CN201410197198.7A 2014-05-09 2014-05-09 Anti-GPS-failure orientation method for fixed-wing unmanned aerial vehicle Pending CN103994766A (en)

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CN104898694A (en) * 2015-05-13 2015-09-09 深圳一电科技有限公司 Aircraft control method and aircraft
CN104890889A (en) * 2015-05-13 2015-09-09 深圳一电科技有限公司 Control method of aircraft and aircraft
CN104890889B (en) * 2015-05-13 2017-02-22 深圳一电航空技术有限公司 Control method of aircraft and aircraft
CN106249755A (en) * 2016-09-14 2016-12-21 北京理工大学 A kind of unmanned plane autonomous navigation system and air navigation aid
CN106249755B (en) * 2016-09-14 2019-08-16 北京理工大学 A kind of unmanned plane autonomous navigation system and air navigation aid
CN111183335A (en) * 2017-07-28 2020-05-19 西斯纳维 Method and apparatus for characterizing heading determined from magnetic field measurements
CN107807375A (en) * 2017-09-18 2018-03-16 南京邮电大学 A kind of UAV Attitude method for tracing and system based on more GPSs
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Application publication date: 20140820