Hardware and software design of highly reliable integrated navigation system for long-endurance UAV

摘要

The SINS/GNSS/CNS integrated navigation system in this paper is designed in order to meet the demand of highly reliable navigation of UAV during long flight. Based on redundancy configuration technology, the hardware solutions of the integrated navigation system is designed using redundant navigation subsystem, dual navigation computer and some other components. The integrated navigation system software includes driver, communication and fault-tolerant filtering algorithms. The fault tolerance algorithm is designed based on fault detection algorithm and federal filtering structure. The prototype of the integrated navigation system and its experimental platform were built, and the relating test was carried out on the highway.