Combined navigation method applicable to unmanned aerial vehicle in glide landing stage

Abstract

The invention provides a combined navigation method applicable to an unmanned aerial vehicle in a glide landing stage, and aims to provide a combined navigation method which is low in cost and simple in engineering implementation. According to the technical scheme, the method comprises the following steps of: (1) in an airport for glide test or flying, inputting a precise positioning measurement data point serving as reference data into calculation software of a differential global positioning system (GPS) ground station; (2) when an onboard differential GPS antenna receives GPS signals of three or more satellites, intersecting a position information coordinate of the unmanned aerial vehicle by the onboard differential GPS antenna, correcting the coordinate information of the unmanned aerial vehicle, which is measured by the onboard differential GPS antenna in real time, according to pseudo-range information emitted by the differential GPS ground station in real time, and eliminating a common error; and (3) sending the corrected coordinate information of the real-time position of the unmanned aerial vehicle to an independent inertia navigation system on an airplane through an RS232 signal, correcting state data such as the position, the speed and the attitude angle of the airplane, which are measured by the inertia navigation system in real time, by the inertia navigation system, sending the precise position information to a flying control computer through RS422, and performing precise control over glide landing of the airplane.

Description

technical field [0001] The invention relates to an integrated navigation method for an unmanned aerial vehicle in the glide landing stage. Background technique [0002] The landing stage is the most critical technical link in the automatic control and autonomous take-off and landing of UAVs, and the high-precision navigation and guidance system is an important guarantee for UAVs to achieve automatic and safe landing. The study of accurate and safe landing guidance methods and equipment has always been an important research field in the aviation industry. [0003] The prior art Instrument Landing System (ILS) is a pilot who relies on the instrument data installed on the aircraft to operate the aircraft during the landing phase of the aircraft. However, the UAV has the characteristics of unmanned driving, so the traditional ILS cannot meet the requirements of UAV descent. Required when landing. The Microwave Landing System (MLS) is a huge system, which is generally built in ...

AI Technical Summary

Problems solved by technology

However, its positioning error accumulates over time, and its positioning accuracy is 1.5 nautical miles in the first navigation hour (CEP) under normal compass alignment, and 6 nautical miles in six hours of navigation, which is far lower than the positioning accuracy of the differential GPS system ( 1m), the error accumulated after working for a long time is getting bigger and bigger, which makes the inertial navigation system not suitable for long-distance navigation, and cannot provide accurate position information for the UAV's glide landing

The differential GPS system has high navigation accuracy, but the system cannot provide navigation parameters such as the attitude of the carrier, and when used on a flight carrier, due to the maneuvering movement of the carrier, it is often difficult for the receiver to capture and track the carrier signal of the satellite, or even Lost lock on tracked signal

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