为了实现无人机自主导航功能，定义了以发射点为坐标原点的地理导航坐标系，给出由WGS⁃84坐标系到导航坐标系的具体转换公式；设计了航路中的航点结构，利用GPS接收机输出数据对无人机的位置进行两点式实时推算，对无人机在直线航路段和转弯段的判断和侧偏距进行了详细讨论，避免了超越函数的计算；利用比例⁃微分导航控制律求得无人机的滚转角，通过飞控系统控制无人机副翼舵机，修正飞行航迹，达到消除侧偏距的目的。这些方法和措施提高了小型无人机的自主导航控制精度和稳定性，使小型无人机具有较好的飞行品质。%In order to realize autonomous navigation function of UAV,a geographic navigation coordinates was defined, and the conversion formula from WGS⁃84 coordinates to navigation coordinates was offered. The navigating points in air route planning were designed. At each air⁃point,a two⁃point model was used for determine the position of the UAV by using data coming from GPS receiver. The judgment whether the UAV is in line route or turning section is discussed in detail,which avoid calcula⁃tion of transcendental function. The roll angle of the UAV was acquired by using a proportional⁃differential navigation control law. The aileron actuator is controlled by flight control system to modify the flight routine and eliminate the lateral offset. With these methods and measures,the navigation precision and stability of UAV was improved,which achieved a good flying quality of UAV.
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