基于CPS架构的旋翼无人机组合定位建模研究

针对在特殊地区连续导航和组合导航冗余技术的问题，提出基于信息物理融合系统架构的BDS/GPS/SINS组合导航的旋翼无人机定位方案。以六旋翼为运载体，采用超紧组合导航结构和联邦式滤波结构建立模型，通过Simulink虚拟定位仿真，得到较为精确的位置信息。进一步搭建旋翼无人机物理融合定位系统实验平台，该平台的BDS/GPS接收机接收由NSS8000多星群模拟器提供的虚拟卫星导航电文信号，方便用户对CPS虚拟和现实环境的人机交互界面进行操作。通过定位信息融合进行基于BDS/GPS/SINS超紧组合导航的室内飞行实验，失星下定位精度都能达到2.0?m±0.5?m。仿真和实验结果表明，该定位系统具有信息物理融合的鲁棒性和安全可靠性。

Modeling Research of Rotorcraft Integrated Positioning Based on CPS Framework

In order to solve the problem of continuous navigation in special areas and redundant technique in integrated navigation, rotorcraft positioning scheme based on BDS/GPS/SINS integrated navigation for Cyber-Physical Systems（CPS） is proposed. The rotorcraft, as a carrier, is modeled with the Ultra-Tightly Coupled（UTC） navigation structure and federated filter structure. The simulation results demonstrate that positional accuracy is higher by Simulink. To further build an experimental platform for the rotorcraft physical fusion positioning system, the BDS and GPS receiver of the platform receives virtual satellite navigation signal that provided by the NSS8000 star cluster simulator, which is convenient for the user to operate the human-machine interaction interface of the CPS virtual and real environment. The indoor flight test based on BDS/GPS/SINS integrated navigation is carried out by fusing positioning information. The positional accuracy reaches in the range of 2.0 m±0.5 m even if the BDS or GPS satellites navigation signal lost. Simulation and experimental results show that the positioning system has the robustness, security and reliability of CPS.