| 基于视觉/GPS/MEMS-INS数据融合的MUAV导航方案 |
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| 引用本文： | 邵玮,祝小平,赵刚.基于视觉/GPS/MEMS-INS数据融合的MUAV导航方案[J].系统仿真技术,2011,7(1):77-81. |
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| 作者姓名： | 邵玮 祝小平 赵刚 |
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| 作者单位： | 西北工业大学宇宙航行系,陕西西安,710072 |
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| 摘 要： | 提出了基于视觉/GPS/MEMS-SINS的微小型无人机（MUAV）数据融合导航方案,利用视觉测量和GPS测量分别与INS组成子滤波器系统,依靠主滤波器对2个子滤波器的估计值进行数据融合。通过仿真验证,说明提出的组合导航方案具有很高的导航精度,能够有效抑制MEMS-INS的漂移,并且在GPS信号失效时,具有很高的容错性能,能够保证导航系统的稳定性,具有一定的应用价值。
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| 关 键 词： | 微小型无人机 视觉导航 GPS MEMS-INS 组合导航 |
Integrated Navigation Scheme for MUAV Based on Vision/GPS/MEMS-INS |
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| SHAO Wei,ZHU Xiaoping,ZHAO Gang.Integrated Navigation Scheme for MUAV Based on Vision/GPS/MEMS-INS[J].System Simulation Technology,2011,7(1):77-81. |
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| Authors: | SHAO Wei ZHU Xiaoping ZHAO Gang |
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| Affiliation: | (College of Astronautics,Northwestern Polytechnical University,Xi＇ an 710072,China) |
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| Abstract: | The integrated navigation scheme based on vision,GPS and MEMS-INS for the MUAV is proposed,using the vision and GPS,combine with the MEMS-SINS for two fliter system.The simulation shows the scheme proposed in this paper has high navigation precise which is against the MEMS-INS,and the high is shown in the GPS,has certain application cost. |
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| Keywords: | GPS MEMS-INS |
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