国防科技大学学报2017，Vol.39Issue(5)：90-95,6.DOI:10.11887/j.cn.201705015
多传感器信息融合理论在无人机相对导航中的应用
Application of multi-sensor information fusion in UAV relative navigation method
摘要
Abstract
In order to improve the operational effectiveness and operational indicators of the UAV (unmanned aerial vehicle),and to enhance the accuracy and reliability of the UAV relative navigation system,a novel relative navigation method was proposed.Under the background of relative navigation system,the cubature information filter based on the cubature Kalman filter and information filter was studied.Moreover,an INS/ GPS/VisNav relative navigation filter was designed by making use of the multi-sensor information fusion theory and distributed information fusion structure to fuse the information from INS,VisNav and GPS,and then the relative position,velocity and attitude were obtained.By making use of this algorithm,the accuracy,reliability and stability of the reliability navigation system were all improved.In addition,the accuracy decrease and numerical instability which often occur to traditional filer were avoided by cubature information filter.Mathematical simulation results indicate that the method can improve the accuracy and reliability of the UAV relative navigation system,and the proposed algorithm is verified.关键词
无人机/多传感器信息融合/相对导航Key words
unmanned aerial vehicle/multi-sensor information fusion/relative navigation分类
航空航天引用本文复制引用
金红新,杨涛,王小刚,周国峰,姚旺..多传感器信息融合理论在无人机相对导航中的应用[J].国防科技大学学报,2017,39(5):90-95,6.基金项目
国家自然科学基金资助项目(61304236) （61304236）
