GPS模拟器在无人机仿真中的设计与应用

摘要

To simulate the drones in the real atmospheric environment, there is wind interference and sensor exist error condition of navigation control, design a kind of GPS simulator, simplified the wind model and turbulence model, and gives out the design idea of GPS simulator and bias and constant wind in sensor design principle of disturbance. Finally, using the constant wind interference simulation proves the correctness of wind field estimation algorithm. The simulation shows that the vector triangle estimation will constant wind field and sensor error model to estimate out later got wind field data correction calculation, improve positioning precision voyage achieved the good control effect. The GPS simulator for uav simulation system can provide closed-loop control condition, can very good simulation uavs in the real atmospheric environment with the navigation guidance control, has certain practical value.%为模拟无人机在真实大气环境下,存在风场干扰以及传感器存在误差条件下的导航控制,设计出一种GPS模拟器,简化了风模型和紊流模型,给出了GPS模拟器的设计思路以及在传感器偏差与常值风干扰下的设计原理；最后利用常值风干扰仿真,验证了风场估计算法的正确性；仿真表明,用矢量三角形估计法将常值风场与传感器误差模型估计出来后得到的风场数据修正航程推算,提高定位精度达到了较好的控制效果;该GPS模拟器可以为无人机仿真系统提供闭环控制条件,能够很好地模拟无人机在真实大气环境中的导航与制导控制,具有一定的实用价值.