CN108827296A - A kind of fixed-wing UAV integrated navigation method that course is bound certainly - Google Patents
A kind of fixed-wing UAV integrated navigation method that course is bound certainly Download PDFInfo
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- CN108827296A CN108827296A CN201811052436.XA CN201811052436A CN108827296A CN 108827296 A CN108827296 A CN 108827296A CN 201811052436 A CN201811052436 A CN 201811052436A CN 108827296 A CN108827296 A CN 108827296A
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- integrated navigation
- course
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- navigation
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Classifications
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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
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Abstract
The invention discloses a kind of courses from the fixed-wing UAV integrated navigation method of bookbinding, for being aligned, preparation of taking off, taking off, the flight environment of vehicle of stabilized flight four-stage, progress horizontal attitude alignment first；Then ground integrated navigation is carried out in precondition for take-off, guarantees to navigate before unmanned plane takes off there are stable when attitude maneuver；In takeoff phase, guarantee the high-precision navigation and the smooth transition in each stage of takeoff phase by judgement of taking off, pure-inertial guidance, the judgement of pure-inertial guidance time, the judgement of global position system reliability and course bookbinding；Flight integrated navigation finally is carried out in the smooth flight stage, the high-accuracy stable navigation during completion is subsequent.The present invention can reduce hardware device cost, simplify and operate before taking off, and improve transmitting rapidity and reliability, promote cost advantage, rapidity and the reliability of fixed-wing unmanned plane.
Description
Technical field
The invention belongs to integrated navigation technology fields, and in particular to a kind of course lead from the fixed-wing unmanned plane combination of bookbinding
Boat method.
Background technique
Upgrading with fixed-wing unmanned plane to rapidity, low cost, attack precision etc. demand, control system is to group
The requirement for closing navigation is higher and higher.
Previous fixed-wing UAV integrated navigation system generallys use two schemes to complete course bookbinding.One is
Carry out the bookbinding of ground course before take-off, this scheme course bookbinding precision is higher, but operating process is complicated, increase hardware at
This, while being unfavorable for quickly taking off, and must take off in the short time after having bound course, or re-start before take-off
Course bookbinding, prevents heading effect error excessive；Another scheme is in moment of taking off using global position system
Speed calculates course angle, and binds to integrated navigation system, and this scheme is easy to operate, but when being taken off due to fixed-wing unmanned plane
Dynamic is higher, and acceleration is larger, therefore the velocity accuracy for moment global position system of taking off is not high, or even cannot position,
The course error that this will lead to bookbinding is excessive, directly affects the success or failure taken off, this scheme reliability is poor.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of course self-chambering
The fixed-wing UAV integrated navigation method ordered is that low cost, the terrestrial operation of fixed-wing UAV integrated navigation system are simple
Change, rapidity, high reliability demand provide solution.
The present invention uses following technical scheme：
A kind of course is from the fixed-wing UAV integrated navigation method of bookbinding, for being aligned, preparation of taking off, take off, stablize
The flight environment of vehicle of flight four-stage, first progress horizontal attitude alignment；Then ground combination is carried out in precondition for take-off to lead
Boat guarantees to navigate before unmanned plane takes off there are stable when attitude maneuver；In takeoff phase, by judgement of taking off, pure-inertial guidance,
The pure-inertial guidance time judgement, global position system reliability judgement and course bookbinding guarantee takeoff phase high-precision navigation with
And the smooth transition in each stage；Flight integrated navigation finally is carried out in the smooth flight stage, the high-precision during completion is subsequent
Stablize navigation.
Specifically, including the following steps：
S1, horizontal attitude alignment is completed using static-base alignment method；
S2, ground is carried out as the position of integrated navigation system, speed initial value using the output result of global position system
Integrated navigation；
During S3, step S2 ground integrated navigation, fixed cycle carries out judgement of taking off；
S4, after determining and taking off signal, integrated navigation system enters pure-inertial guidance process；
During S5, pure-inertial guidance work, the carry out pure-inertial guidance time judgement of fixed cycle；
After S6, pure-inertial guidance time reach, satellite positioning is carried out according to witness marker, visible star number, PDOP value index
System reliability judgement；
S7, step S6 judge that the course of global position system can be bound rearward and give integrated navigation system by global position system
System, while position, speed are replaced, and reset filter；
S8, after carrying out course bookbinding, position and speed replacement and filter resetting, continue to start integrated navigation, complete
Integrated navigation in entire flight course.
Further, in step S2, horizontal attitude initial value using the horizontal attitude of alignment as integrated navigation system, group
The initial heading for closing navigation system is defaulted as 0, starts to carry out ground integrated navigation.
Further, in step S3, judge that the output valve of accelerometer is greater than threshold value and thinks to take off after continuing 5ms, group
It closes navigation system and enters process of taking off, otherwise continue ground integrated navigation.
Further, in step S5, when judging that the pure-inertial guidance time reaches, automatically into downstream.
Further, in step S6, after global position system continuous multiple frames are effective, automatically into downstream, otherwise
Pure-inertial guidance is carried out always.
Further, in step S7, integrated navigation system is replaced using the track angle of global position system, position, speed
Course, position, speed and resetting filter parameter.
Further, in step S8, continue integrated navigation, the navigation mode of completion pure-inertial guidance to integrated navigation
Switching.
Compared with prior art, the present invention at least has the advantages that：
The present invention is based on the courses that high dynamic is taken off to bind fixed-wing UAV integrated navigation method certainly, nobody may be implemented
Course when machine high dynamic is taken off eliminates ground course bookbinding link from binding, and shortening is taken off time, reduce hardware at
This；When taking off simultaneously this method solve fixed-wing unmanned plane high dynamic, global position system error is greatly to the shadow of navigation system
The static influence to take-off attitude for a long time before ringing and taking off, it is ensured that unmanned plane rises in no course binding device, high dynamic
Steadily taking off and subsequent stabilized flight under long-time quiescent conditions before flying and taking off.
Further, in order to guarantee unmanned plane before take-off occasionally there are it is motor-driven when, be still able to carry out accurate combination
The navigation of takeoff phase is navigated and be will not influence, S2 step is set, ground integrated navigation is carried out, before adaptation unmanned plane takes off
Motor-driven situation.
Further, for real-time monitoring departure time, it is convenient for navigation pattern switching, S3 step, fixed cycle are set
Carry out judgement of taking off.
When further, in order to avoid taking off in the case of high dynamic, the wrong data of global position system will lead to combination
S4 step is arranged in the irregular working of navigation system, into pure-inertial guidance process, even and if course is not when pure-inertial guidance
Accurately will not under body system speed and horizontal attitude have an impact, can satisfy control system demand.
Further, in order to avoid the pure-inertial guidance time is too long, error accumulation is excessive, and S5 step is arranged, fixed cycle
The judgement of pure-inertial guidance time is carried out, enters downstream after time arrival.
Further, in order to guarantee that global position system is reliable at this time, S6 step is set, according to witness marker,
It can be seen that star number, PDOP value index carry out the judgement of global position system reliability.
Further, in order to obtain true course, the position and speed information at unmanned plane current time, realize that pure inertia is led
It navigates to the smooth transition of integrated navigation, S7 step is set, carry out course bookbinding, while replacing position, velocity information, resetting filtering
Device.
Further, in order to guarantee the smooth flight after unmanned plane takes off, S8 step is set, continues new combination and leads
Boat.
In conclusion the present invention can reduce hardware device cost, simplify and operated before taking off, improve transmitting rapidity and
Reliability promotes cost advantage, rapidity and the reliability of fixed-wing unmanned plane.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is the method for the present invention flow chart；
Fig. 2 is navigation pattern switching flow chart.
Specific embodiment
Fixed-wing unmanned plane can be divided into alignment, preparation of taking off, take off, stabilized flight four-stage；
Alignment stage unmanned plane whole process is static, about 3min or so；
The precondition for take-off time is longer, generally continues 10~20min, this stage unmanned plane is static for a long time, but takes off
The change in course and before taking off personnel's operation may bring the motor-driven by a small margin of horizontal attitude, and this stage course is accumulative
Error is larger can not also to be corrected, this is quite unfavorable to take-off process；
Takeoff phase, the moment unmanned plane acceleration that takes off is larger, and often will lead to global position system cannot normal work
Make or positioning accuracy declines, could restore normal after continuing for some time, specific time and take-off process and global position system
Performance it is related；
Smooth flight stage, unmanned plane carry out normal flight course.
Referring to Fig. 1, a kind of fixed-wing UAV integrated navigation method of the course of the present invention from bookbinding, for above four
The flight environment of vehicle in stage, targetedly generates strategy, and realizes that integrated navigation is bound in the course under high dynamic is taken off certainly；First right
The quasi- stage completes horizontal attitude alignment using traditional static-base alignment method；Then ground combination is carried out in precondition for take-off
Navigation guarantees not impact to taking off there are can also stablize navigation when attitude maneuver before unmanned plane takes off；Secondly it is taking off
Stage passes through judgement of taking off, pure-inertial guidance, the judgement of pure-inertial guidance time, the judgement of global position system reliability and course
Bind high-precision navigation and the smooth transition in each stage that five links guarantee takeoff phase；Finally the smooth flight stage into
Row flight integrated navigation, the high-accuracy stable navigation during completion is subsequent.Include the following steps：
S1, alignment
The alignment of horizontal attitude is realized using traditional static-base alignment method.
S2, ground integrated navigation
After alignment, position, speed initial value using the output result of global position system as integrated navigation system,
Horizontal attitude initial value using the horizontal attitude of alignment as integrated navigation system, the initial heading of integrated navigation system is defaulted as
0, start to carry out ground integrated navigation.
S3, judgement of taking off
During the integrated navigation of ground, fixed cycle carries out judgement of taking off.
Judge that the output valve of accelerometer is greater than threshold value and thinks to take off after continuing for some time, integrated navigation system enters
It takes off process, otherwise continues ground integrated navigation.
S4, pure-inertial guidance
It determines after taking off signal, integrated navigation system enters pure-inertial guidance process, this stage without combination, avoids
The wrong data of global position system leads to the irregular working of integrated navigation system, even and if course is not when pure-inertial guidance
Accurately will not under body system speed and horizontal attitude have an impact, can satisfy control system demand.
S5, the judgement of pure-inertial guidance time
During pure-inertial guidance works, the carry out pure-inertial guidance time judgement of fixed cycle.
When judging that the pure-inertial guidance time reaches, automatically into downstream.
S6, the judgement of global position system reliability
Judge the indexs such as witness marker, visible star number, the PDOP value of global position system, it is ensured that global position system is continuous
After multiframe is effective, automatically into downstream, pure-inertial guidance is otherwise carried out always, without integrated navigation.
S7, course bookbinding
Judge that the course of global position system can be bound to integrated navigation system, be adopted simultaneously rearward by global position system
With the position of global position system, the position of speed replacement integrated navigation system, speed, filter parameter is reset.
S8, flight integrated navigation
After carrying out course bookbinding, position and speed replacement and filter resetting, restart integrated navigation, completes entire
Integrated navigation in flight course.
Repeat step S4~S8, the navigation pattern switching of completion pure-inertial guidance to integrated navigation, as shown in Fig. 2, taking off
Unmanned plane enters pure-inertial guidance process afterwards, and to avoid the pure-inertial guidance time too long, cumulative errors are excessive, in the link fixed week
Phase carry out the judgement of pure-inertial guidance time, if the time less than, continue pure-inertial guidance, if the time arrives, automatically into
Judge to downstream global position system reliability.It enters after global position system reliability judges process, due to subsequent
Link needs to replace navigation-related data using satellite data, to guarantee that global position system data are reliable, in the stream
Journey judges the witness marker of satellite, visible star number, PDOP value, if continuously regulation frame is all effective, enters lower one stream
Cheng Hangxiang bookbinding, otherwise remains in the process.After entering course bookbinding process, accurately navigate to obtain unmanned plane
To, position and speed information, bound using the flight-path angle of global position system to the course of navigation system, using satellite positioning system
The position of the position and speed replacement navigation system of system, speed, while P gusts of parameters of filter are reset, enter later to the end
Flight combination flow of navigation, carries out stable, accurate integrated navigation.
This method compared with the conventional method, does not need to carry out course bookbinding before take-off, but a period of time after take off,
When ensuring that global position system data reliability is higher, the flight-path angle bookbinding course of global position system is directlyed adopt.The present invention
The link of ground course bookbinding is eliminated, while improving the reliability of traditional moment flight-path angle bookbinding course method of taking off,
Reduce hardware device cost, shorten launch time while, improve unmanned plane takeoff heading bookbinding and precision navigation can
By property.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being described and shown in usually here in attached drawing is real
The component for applying example can be arranged and be designed by a variety of different configurations.Therefore, below to the present invention provided in the accompanying drawings
The detailed description of embodiment be not intended to limit the range of claimed invention, but be merely representative of of the invention selected
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts
The every other embodiment obtained, shall fall within the protection scope of the present invention.
With certain unmanned plane during flying data instance twice, the advantages of this method is analyzed.
Table 1 be certain twice unmanned plane during flying when global position system east orientation speed Ve, north orientation speed Vn and flight-path angle,
Middle 1 true course of data is about -155 °, and 2 true course of data is about -175 °.It is bound using conventional method and this method course
The results are shown in Table 2.
1 satellite location data of table
Bind result in 2 course of table
It can be seen that the method for the present invention is compared with the traditional method from above-mentioned data, eliminate ground course bookbinding link, simultaneously
Precision is better than the moment flight-path angle method for stitching that takes off.
The above content is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, all to press
According to technical idea proposed by the present invention, any changes made on the basis of the technical scheme each falls within claims of the present invention
Protection scope within.
Claims (8)
1. a kind of course from bookbinding fixed-wing UAV integrated navigation method, which is characterized in that for be aligned, preparation of taking off,
It takes off, the flight environment of vehicle of stabilized flight four-stage, progress horizontal attitude alignment first；Then carry out ground in precondition for take-off
Face integrated navigation guarantees to navigate before unmanned plane takes off there are stable when attitude maneuver；In takeoff phase, by judgement of taking off, pure
Inertial navigation, the judgement of pure-inertial guidance time, the judgement of global position system reliability and course bookbinding guarantee the height of takeoff phase
Precision navigation and the smooth transition in each stage；Flight integrated navigation finally is carried out in the smooth flight stage, completes subsequent process
In high-accuracy stable navigation.
2. the fixed-wing UAV integrated navigation method that a kind of course according to claim 1 is bound certainly, which is characterized in that
Include the following steps：
S1, horizontal attitude alignment is completed using static-base alignment method；
S2, ground combination is carried out as the position of integrated navigation system, speed initial value using the output result of global position system
Navigation；
During S3, step S2 ground integrated navigation, fixed cycle carries out judgement of taking off；
S4, after determining and taking off signal, integrated navigation system enters pure-inertial guidance process；
During S5, pure-inertial guidance work, the carry out pure-inertial guidance time judgement of fixed cycle；
After S6, pure-inertial guidance time reach, global position system is carried out according to witness marker, visible star number, PDOP value index
Reliability judgement；
S7, step S6 judge that global position system can rearward bind in the course of global position system to integrated navigation system, together
When replace position, speed, and reset filter；
S8, after carrying out course bookbinding, position and speed replacement and filter resetting, continue to start integrated navigation, complete entire
Integrated navigation in flight course.
3. the fixed-wing UAV integrated navigation method that a kind of course according to claim 2 is bound certainly, which is characterized in that
In step S2, horizontal attitude initial value using the horizontal attitude of alignment as integrated navigation system, integrated navigation system it is initial
Course is defaulted as 0, starts to carry out ground integrated navigation.
4. the fixed-wing UAV integrated navigation method that a kind of course according to claim 2 is bound certainly, which is characterized in that
In step S3, judge that the output valve of accelerometer is greater than threshold value and thinks to take off after continuing 5ms, integrated navigation system, which enters, to take off
Otherwise process continues ground integrated navigation.
5. the fixed-wing UAV integrated navigation method that a kind of course according to claim 2 is bound certainly, which is characterized in that
In step S5, when judging that the pure-inertial guidance time reaches, automatically into downstream.
6. the fixed-wing UAV integrated navigation method that a kind of course according to claim 2 is bound certainly, which is characterized in that
In step S6, after global position system continuous multiple frames are effective, automatically into downstream, pure inertia otherwise carried out always and is led
Boat.
7. the fixed-wing UAV integrated navigation method that a kind of course according to claim 2 is bound certainly, which is characterized in that
In step S7, using the track angle of global position system, position, the speed replacement course of integrated navigation system, position, speed and
Reset filter parameter.
8. the fixed-wing UAV integrated navigation method that a kind of course according to claim 2 is bound certainly, which is characterized in that
In step S8, continue integrated navigation, the navigation pattern switching of completion pure-inertial guidance to integrated navigation.
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