小型无人机多传感器组合导航系统设计与实现

准确、可靠的运动状态数据对小型无人机运动控制至关重要，在实际飞行控制过程中通常要用到两种甚至更多传感器进行数据融合获取。文中根据小型无人机实际飞行运动控制需求，设计集成卫星导航(GPS)、惯性姿态参考系统(AHRS)和气压高度计的组合导航系统，采用多传感器数据融合算法，对无人机的位置、速度、加速度、姿态角等状态数据进行融合估计。通过实际飞行实验对所设计系统的有效性和实用性进行了验证。

Design and Implementation of the Multi Sensor Integrated Navigation System for Mini UAV

Accurate and reliable motion states data are essential for control of small unmanned aerial vehicle (UAV). In the actual control, two or even more of sensors are typically required to obtain the motion data by the specific fusion algorithm. In this paper, an integrated navigation system is designed by integrating GPS, inertial attitude reference system (AHRS) and barometric altimeter based on the actual flight control requirements of UAV. Then a multi-sensor data fusion algorithm is realized to estimate the states data of position, velocity, acceleration, and Euler angles. Finally, the validity and usefulness of the designed system are verified in actual flight tests.