为了修正无人机(UAV)捷联惯性导航系统的漂移,实现UAV组合导航系统的搭建,对UAV进近阶段组合导航方案的信息融合技术进行了研究,结合信息融合Kalman滤波法的基本概念,推导出用于修正捷联惯性导航系统漂移的激光测距仪、电子罗盘和高度表系统的模型,再对UAV组合导航信息融合子系统进行建模,构造基于间接参数估计的多速率Kalman滤波系统。通过Matlab搭建数学模型,实现对UAV组合导航信息融合系统的仿真,验证了信息融合方案的可行性。

In order to correct the drift of the UAV strapdown inertial navigation system and realize the construction of UAV integrated navigation system, the information fusion technology of integrated navigation scheme for UAV in approaching stage is studied.Based on the basic concept of Kalman filter method for information fusion, the models of laser range finder, electronic compass and altimeter system used to correct the drift of strapdown inertial navigation system are deduced, and then the model of the aviation information fusion subsystem for UAV integrated navigation is built.A multi-rate Kalman filtering system based on indirect parameter estimation is constructed.The simulation of UAV integrated navigation information fusion system is realized by building a mathematical model with Matlab, and the feasibility of the information fusion scheme is verified.