The Design Of Navigation And Control System For Ground Effect Vehicle

According to the ground effect principle, Ground Effect Vehicle (the Ekranoplan,Ground Effect Plane) is a kind of the special vehicle, with super low altitude flight ability ofthe special vehicle. It ranged from between aircraft, ships and hovercraft, and can fly eitherleave the surface of the water (ground) or closely to the water (ground).Based on the characteristics of ground effect vehicle, the flight control system isdesigned. The micro navigation system is based on the MEMS gyroscope, accelerometer,GPS and micro navigation computer (DSP). The research object of this article is the smallunmanned ground effect vehicle. The introduction of mathematical modeling, data fusionalgorithm of aircraft, the optimal attitude estimation and the designing of the flight controlsystem are detailed.First of all, according to the air dynamics principle of ground effect vehicle, designed themathematical models. According to the vehicle actual parameters, make simulation of thevehicle mathematical model with MATLAB/Simulink. Also make the MATLAB real-timesimulation of control system. Then the ground-effect wing ship design with the selection ofsuitable simulation parameters is determined.Secondly, to ensure the long time stable flight, designed a real-time, stable and reliablenavigation system because of vehicle attitude instantaneous changes dramatically in theground effect area. Attitude and Heading Reference System (AHRS) consists of Micro InertialMeasurement Unit (MIMU), GPS and micro navigation computer. The system error model ofMEMS gyroscope, accelerometer and the horizontal tiltmeter is established. The error ofsystem parameter is identified by calibration experiments. The error compensation methodimproved the precision of the navigation system effectively.Thirdly, navigation system theoretical basis on Extended Kalman Filter of data fusionalgorithm provides which is derived from the inertial navigation system error equations,Kalman Filter state equation and measurement equation. Strapdown the solution is calculatedby Micro navigation computer with MIMU measurement of gyro and accelerometer, thenoutput attitude, position and velocity information. To get the optimal estimation of navigationparameters, this information is fused with GPS attitude information in a filter.Finally, a real-time and stability of the ground effect vehicle control system stabilitybased on PID controller is designed and the relative experiments of the system is completed. Theresults show that, high precision navigation control system can be realized based on the low precision of MIMU and GPS combined navigation system. With micro computer rapidprocessing capacity and multi sensors fusion algorithm, the real-time control of navigationalgorithm is suitable for unmanned ground effect vehicle.