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Method and system for correcting course error of unmanned aerial vehicle ins/gnss integrated navigation system

An integrated navigation system and heading error technology, applied in radio wave measurement systems, satellite radio beacon positioning systems, instruments, etc., can solve the problems of heading angle calculation error divergence, improve stability and reliability, overcome heading corner divergence effect

Active Publication Date: 2021-04-06
北京微克智飞科技有限公司
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Problems solved by technology

[0005] In view of this, the present invention provides a heading error correction method and system of the UAV INS / GNSS integrated navigation system, which solves the problem that the heading angle calculation error gradually diverges during the flight of the UAV, and improves the flight accuracy of the UAV. Control stability and flight control reliability

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  • Method and system for correcting course error of unmanned aerial vehicle ins/gnss integrated navigation system

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[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0044] The embodiment of the present invention discloses a heading error correction method of an unmanned aerial vehicle INS / GNSS integrated navigation system. The method includes the following steps:

[0045] S1: Calculate the acceleration: use the proportional signal output by the INS accelerometer to calculate the first acceleration of the UAV in the navigation coordinate system, and use the UAV speed information output by the GNSS receiver to calculate the ...

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Abstract

The invention discloses a heading error correction method and system of a UAV INS / GNSS integrated navigation system. The method uses the acceleration output by the INS and the acceleration estimated by the GNSS to form a heading angle error compensation amount in a motion mode to compensate the INS / GNSS The heading error of the integrated navigation system can correct the heading angle error in real time and obtain the accurate heading angle of the drone, which can effectively overcome the divergence problem of the heading angle of the drone in the INS / GNSS integrated navigation system, and is conducive to improving the stability of the flight control of the drone and reliability.

Description

technical field [0001] The present invention relates to the technical fields of integrated navigation and electronic information, and more specifically relates to a method and system for correcting errors of UAV INS / GNSS integrated navigation. Background technique [0002] At present, with the continuous development of UAV technology, its application scope is becoming more and more extensive. The safety of UAVs during flight directly affects their ability to perform tasks. The basis for intelligent autonomous tasks. The UAV autonomous navigation control system needs to have a keen sense of the motion state and the motion environment, and provide timely decision-making for the UAV control, so as to ensure that the UAV has a higher safety performance. During the flight of the UAV, the resolution of the heading angle is one of the key factors to ensure that the UAV can keenly perceive its motion state. [0003] There are two ways to calculate the heading angle. One is to use ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S19/47
CPCG01S19/47
Inventor 李少斌胡盼伟赵龙
Owner 北京微克智飞科技有限公司
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