基于动态权值分配的无人机高度融合估计方法

为了提高无人机在海上低空飞行时的高度导航精度和可靠性，提出一种基于动态权值分配的高度融合估计方法。通过建立INS/GPS组合导航系统误差模型，设计了惯性/卫星/雷达高度计组合导航卡尔曼滤波器，并通过采用最优权值分配策略进行数据融合，实现低空飞行条件下的高度准确估计。仿真结果表明：该方法在低空飞行条件下的高度导航精度有明显提高，具备较强的鲁棒性，具有较大的工程应用参考价值。

A Height Fusion Estimation Method of UAV Based on Dynamical Weights Allocation

In order to improve the precision and reliability of UAV that cruise at low level above the sea, a height fusion estimation method of UAV based on allocating weights dynamically is put forward. The error model of INS/GPS is built and an improved Kalman filter based on INS/GPS/RA integrated navigation is designed, a weighted fusion algorithm is given which in real time allocating weights dynamically based on optimal weight allocation principle, realize the more precise height estimation. The simulation result shows that, compare with the SKF, the performance is improved significantly over low altitude above the sea, and the observation noise can be suppressed effectively, it has a great engineering application value.