| 遗传算法提高卡尔曼滤波器在无人机滑行控制中的应用 |
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| 引用本文： | 刘瑾,雷仲魁.遗传算法提高卡尔曼滤波器在无人机滑行控制中的应用[J].电子工程师,2009,35(10):48-51. |
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| 作者姓名： | 刘瑾 雷仲魁 |
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| 作者单位： | 刘瑾(南京航空航天大学信息科学与技术学院,江苏省南京市,210016);雷仲魁(南京航空航天大学无人机研究院,江苏省南京市,210016) |
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| 摘 要： | 无人机在起降过程中由于受到外界因素的干扰，在滑跑行驶过程中会产生一定的偏差。文中提出了一种新型的无人机测偏角方案，结合遗传算法和卡尔曼滤波器的优势，来达到提高无人机测量偏角的精度。卡尔曼滤波器可以应用到无人机飞控系统的导航中，但是存在一定的误差，而利用遗传算法的优势，缩小最优解的范围，可以提高有效性和可靠性。通过实验仿真，可使无人机的侧偏角保持在允许的一定范围内。
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| 关 键 词： | 遗传算法 卡尔曼滤波器 无人机 滑行控制 |
Application of Genetic Algorithm to Improve Kalman Filter in Unmanned Vehicle Control of Slipping |
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| Affiliation: | LIU Jin, LEI Zhongkui ( 1. College of Information Science and Technology, Nanjing University of Aeronautics and Astronautics,Nanjing 210016, China; 2. Unmanned Vehicle Research Institute, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China) |
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| Abstract: | Due to extraneous disturbing factors in lifting and landing of UAV, there are certain diviations in slipping travel. A new measurement method of UAV edge angle, combined with advantage of genetic algorithm and Kalman filter to improve the precision of UAV edge angle is proposed in this paper. Kalman filter can be used in the navigation of AFCS automatic flight control system, but certain errors exist. We use the ad- vantage of genetic algorithm, for reducing the range of optimum solution, thus improving the validity and the reliability. By means of experimental emulation, we can make the edge angle kept in certain limit. |
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| Keywords: | genetic algorithm Kalman filter UAV slipping control |
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