航空科学技术2025，Vol.36Issue(12)：18-23,6.DOI:10.19452/j.issn1007-5453.2025.12.003
无人机导航系统的可信新息迭代方法研究
Research on Assured Innovation Iterative Method for UAV Navigation Systems
摘要
Abstract
Accurate navigation and assured positioning are crucial for UAV to perform missions.To address the reliability issue of autonomous navigation systems for UAV during low-altitude flight in complex environments,this paper proposes an assured innovation iterative robust method.Based on the variance inflation robust model,this method constructs an assured innovation.Then the reliability of the state estimation after the robust estimation is assessed by this innovation and the estimation results can be further optimized through iterations.On this basis,the paper provides a detailed derivation of the convergence for the assured innovation and defines the convergence condition for the iterative robust method.INS/GNSS integrated navigation simulation experiment shows that the proposed method outperforms the traditional robust method in fault suppression.The three-dimensional overall positioning errors are reduced from 3.69 m to 3.06 m,with the positioning accuracy improved by 17.1％,which can fully validate the effectiveness and reliability of this method in navigation systems.关键词
无人机/自主导航/Huber等价权函数/可信新息/迭代抗差Key words
UAV/autonomous navigation/Huber equivalent weight function/assured innovation/iterative robust estimation分类
航空航天引用本文复制引用
苏畅,孟骞,胡天宇,蔡文渊,周琪..无人机导航系统的可信新息迭代方法研究[J].航空科学技术,2025,36(12):18-23,6.基金项目
航空科学基金(20220008069003) （20220008069003）
国家自然科学基金(62203111) （62203111）
江苏省自然基金(BK20231434) Aeronautical Science Foundation of China(20220008069003) （BK20231434）
National Natural Science Foundation of China(62203111) （62203111）
Natural Science Foundation of Jiangsu Province(BK20231434) （BK20231434）
