无人机动态空中对准算法及性能仿真研究

摘要

关于无人机导航精度优化问题,高空长航无人机航行时间长,而惯导误差随时间积累,所以长航时无人机在进入目标区域进行SAR(合成孔径雷达)侦察时产生导航误差,不能满足匹配要求,所以必须进行空中对准,以提高导航系统精度.为了有效提高对准的精度,明确载体机动对对准效果的影响,设计了高空长航无人机机动对准方案,在建立SINS/GPS速度和位置组合模式的卡尔曼滤波器模型的基础上,综合分析比较了不同机动方式对对准效果的影响.仿真结果证明,在速度位置组合模式下,“S”机动方式对空中对准的效果改善最大,且机动强度对对准效果也有影响；仿真结论为后续研究无人机长航时保持惯导精度提供重要参考依据,对提高组合导航性能具有重大意义.%High-altitude long-endurance unmanned aerial vehicle often flies for a long time, and the error of in-ertial navigation system accumulates over time, which leads to a large navigation error that can not meet the matching conditions when the vehicle goes into the target area to do SAR imaging, so flight alignment is required. The alignment program on moving base was designed to clear the effects of different maneuver manners. The kalman filter model was established using velocity-position-matching method, and the effects of different maneuver manners on the a-lignment performances of SINS were compared. The simulation results show that, the best flight alignment performance is achieved in " S" maneuver manner, and maneuvering strength impacts on alignment performance. The simulation conclusions provide important reference to follow-up studies.