A hybrid altitude measurement method of UAV inertial navigation and GPS

A technology of height measurement and unmanned aerial vehicles, applied in height/level measurement, radio wave measurement system, navigation through speed/acceleration measurement, etc., can solve the problems of low accuracy of height measurement and increased error, and achieve high precision , Good dynamic characteristics, avoid the effect of divergent characteristics

Active Publication Date: 2022-04-26
NAVAL AVIATION UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to provide a method for measuring the height of UAV inertial navigation and GPS hybrid, and then at least to a certain extent overcome the low accuracy of height measurement or the accumulation of errors over time due to the limitations and defects of related technologies. The problem

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  • A hybrid altitude measurement method of UAV inertial navigation and GPS
  • A hybrid altitude measurement method of UAV inertial navigation and GPS
  • A hybrid altitude measurement method of UAV inertial navigation and GPS

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[0046] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of embodiments of the invention. However, those skilled in the art will appreciate that the technical solution of the present invention may be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other instances, well-known technical solutions have not been shown or descr...

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Abstract

The invention relates to a design method for a UAV inertial navigation and GPS hybrid altitude measurement device. It first installs the BN‑880Q GPS position receiver to receive the real-time GPS altitude information of the drone, and then installs the ACS100 high-precision Mems accelerometer to measure the real-time acceleration information of the drone, and then designs a nonlinear filter to obtain the GPS filter height information , and then integrate the implemented acceleration information twice to obtain the inertial height. Then compare the inertial altitude with the filtered altitude to obtain the altitude error information, and perform nonlinear filtering to obtain the filtered error information, then introduce the inertial acceleration and velocity compensation feedback and integrate to obtain the mixed velocity and mixed altitude, and compare the mixed altitude with the GPS altitude to form an error signal. Compensate for the generation of mixed heights, and finally get the composite measurement method of inertial navigation and GPS. The advantage of the invention is that the measurement error does not accumulate and diverge with time, and the accuracy is higher than that of single measurement.

Description

technical field [0001] The invention relates to the field of high-precision height measurement of unmanned aerial vehicles, in particular to a design method for a hybrid height measurement method of UAV inertial navigation and GPS. Background technique [0002] During the low-altitude flight of the UAV, especially the low-altitude sea-skimming flight, the information measured by the height sensor is used as the feedback signal of the height control system, so the accuracy of the height measurement will directly affect the height control of the UAV. GPS single-point positioning refers to the use of GPS receivers to directly determine the position of a point in the earth coordinate system. When the receiver is located on a moving carrier, the GPS dynamic positioning method is used, which is now widely used on mobile carriers such as aircraft and vehicles. However, on the basis of precise positioning information, civilian GPS signals will be superimposed with random interferen...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20G01C5/00G01S19/47
CPCG01C21/165G01C21/20G01C5/00G01S19/47
Inventor 雷军委晋玉强寇昆湖陆珂珂
Owner NAVAL AVIATION UNIV
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