小型无人机GPS／航程推算组合导航系统研究

探讨了在无人机上发展ＧＰＳ／航程推算自式组合导航系统的必要性和可行性；对利用ＧＰＳ定位信息进行导航时所需的坐标转换问题作了分析研究；并对研制的ＧＰＳ／航程推逄组合导航系统的设计思想，总体方案，工作原软硬件结构作了介绍，给出了在小型无人机上进行导航试验的结果。

An Integrated GPS/DR Navigation System for Mini Remotely Piloted Vehicles

Recently,many methods have been presented to discuss the integrated GPS navigation systems[2,3,4].This paper deals with a practical integrated GPS/DR navigation system for mini remotely piloted vehi-cles(RPVs).The main features of such a practical system are: (1)It is a multisensor navigation system which integrates the positioning information of GPS withthat of Dead Reckoning (DR) system.Compared with the conventional integrated GPS/INSsystems[2,3],the present system has the advantages of low-cost,small size,light-weight and simplicity inconstruction.(2)The model used not only permits the positioning information to be conveyed thoroughly,but alsotakes into consideration the dynamic altitude parameters of the aircraft.(3)This integrated GPS/DR navigation algorithm designed allows the navigation accuracy to beseveral orders of magnitude higher than that of the original DR algorithm.Monte Carlo simulation indi-cates indeed that the algorithm possesses more efficiency,higher accuracy,quicker convergence and bettertracking performance.This integrated GPS/DR navigation system has been applied to the navigation control of miniremotely piloted vehicles developed by the Institute of Pilotless Mini-Aircraft,NorthwesternPolytechnical University.It has been flight tested more than twenty times.The navigation results,ob-tained with this integrated system,both in ground simulation and flight testing,are rather satisfactory.