On Application Of GPS To Navigation And Positioning For Mini-UAV

Mini-UAV (Mini Unmanned Aerial Vehiele) which is widely applied both in military and civilian areas, has become one of the most important research subjects in many scientific research institutions for a long time all over the word. Navigation and positioning systems for Mini-UAV play an important part in the autonomous flihgt. The coordinate transformation algorithms and the integrated navigation system are mainly studied for Mini-UAV in the thesis.As Mini-UAV has a strict limitation for navigation instruments on volume, weight and cost, the routine navigation methods for large-scale planes are impossible to apply to Mini-UAV. Considering the characteristics of Mini-UAV, we studied the application of GPS to its navigation and positioning system.First of all, the coordinate transformation algorithms for GPS navigation and positioning are studied. In accordance with the needs of Mini-UAV navigation and positioning, a reasonable simplification is made to the coordinate transformation model of Mini-UAV navigation and the real-time dynamic positioning coordinate transformation model is presented. Also, the validity and practicality are analyzed by using the numerical examples.Secondly, shortcomings for navigation and positioning with GPS or MIMU, a research on Mini-UAV GPS/MIMU integrated navigation system is carried out. Based on the analysis of integrate models of GPS/MIMU, Kalman filter algorithm is used for data integration, and a centralized Kalman filter state equation and measurement equation are established. Then the GPS/MIMU integrated navigation system based on position-velocity is designed.Thirdly, the simulation analysis to GPS/MIMU is performed with MATLAB7.0. The simulation results show that the GPS/MIMU integrated system with Kalman filter can restrain the divergence and improve the long-term navigation accuracy by output correction. At the same time, the integrated navigation system can give a better performance on accuracy and reliability.Finally, a summing-up for the work in this thesis is completed. The expectation to the development of UAV navigation and positioning system in future and the further research problems are summarized.