Navigation And Control System Design For High Speed UAV In Gliding Orbit

High-speed UAV has the characteristics of high speed, short reaction time, big combat radius, good for hiding and strong penetration ability. Thus it is the indispensable combat weapons in modern warfare and its development has been a concern around the world. High-speed UAV has the high dynamic characteristic, and it also has the dynamic characteristics of multivariable, time-varying parameters, highly non-linear and strong coupling, so the design of navigation and control system for high-speed UAV is a challenging topic.Inertial navigation system can provide relatively comprehensive navigation parameters, but it has the shortcoming that the navigation errors will rapidly accumulate over time. Although GPS can achieve high precision and low cost navigation, its reliability is poor and the frequency of output data is low. Use the INS to combine with GPS to make complementary advantages and get a better navigation effect. Therefore, we design the INS/GPS integrated navigation system in order to meet the high precision navigation requirements of high-speed UAV. Use Kalman filter to estimate the error of integrated navigation system and correct the navigation information of INS. In this study, we consider the non-equivalence relations of platform misalignment angle and attitude error angle to further improve the accuracy of navigation.The UAV control system design includes the control law design of attitude stabilization loop and guidance loop. We linearize the coupled nonlinear model and decouple this model into two subsystems of longitudinal system and lateral system. In longitudinal subsystem, we design the damper, attitude stabilization controller and trajectory tracking controller using root locus methods. In lateral subsystem, we use BTT control method to design attitude control system in order to eliminate the effect of slip angle and improve cornering efficiency. On this basis, we design guidance loop of lateral system using root locus methods and achieve correction control functions of lateral trajectory.Use Matlab/Simulink software to build a simulation platform for navigation and control system of high-speed UAV. In order to verify the validity of the navigation and control system, we verify the two subsystems in the same simulation model and the UAV model uses six degree of freedom coupled non-linear model. In simulation, we take into account the effect of uncertainty of atmospheric density and aerodynamic parameters. The simulation results show that the navigation system is able to output high precision navigation information and the control system can meet the requirements of the control index. What’s more, the system has a strong robustness. The design in this paper is able to meet the requirements of navigation and control system for UAV and can provide technical reference for research in related fields.