Design And Simulation Of GPS/INS Navigation System For UAH

Autonomous flight control system of Unmanned Aerial Helicopter( UAH) is very important in autonomous flight. The relationship between flight control system and navigation system is close and tight. Navigation system provides accurate flight parameters for flight control system. The research emphasis of flight control system of UAH is to determine the flight states of UAH by use of measured data. Kalman filtering can be used to estimate state error of system and to correct the state variables of the system. This thesis deals with the design, analysis, and the simulation of navigation system of helicopter. Integrated navigation systems is combined with GPS and strapdown inertial navigation system. The hardware configuration and the combining principle of multi-sensor integrated navigation system is introduced in the thesis. The principle of multi-sensor data fusion is described. The operating principle, the characteristic, and the main error source of inertial navigation system and differential GPS are expatiated. A kinematic equation of 18 dimension is modeled. A flight path is simulated. The simulation of the integrated system is implemented with measured data in which white noise is added in the paper. The data and curves in simulation and the filtered data are compared with observed data. Finally, in this paper it is proved that the integrated navigation system of GPS/SINS can provide navigation information of high accuracy for flight control system. The importance of integrated navigation system will be embodied in application field. The flight control system of UAH is efficiently supported with integrated navigation system.