基于UKF自主定姿方法研究

摘要

轻小型飞行器在飞行中卫星导航失效时,余度控制回路要求导航系统具有自主确定姿态的能力.提出了基于IMU的输出确定水平姿态的方法,并采用UKF实现飞行中的实时滤波估计.对某无人机实际飞行的MEMS型IMU数据进行了仿真,结果表明该方法给出的姿态角信息满足控制精度需求.将UKF与EKF滤波估计结果进行比较,UKF更具有优越性.%To satisfy the requirement of redundance control loop,navigation system needs to independently determinate the attitude of small craft in case of GPS loss.A method is proposed to determinate attitude based on the accelerometer and gyroscope output,and UKF is used to realize filter estimation in real time during the flight.MEMS IMU data of UAV (unmanned aerial vehicle)flight is simulated and the simulation results show that the attitude information calculated in this method meets the requirement of control system.Supposing that attitude given by SINS/GPS integrated navigation system is of high accuracy,simulation results comparisons which are made between UKF and EKF show UKF is of better performance.