Research On Navigation Technology For UAV In Complex Geografic Conditions

UAV industry is put aviation, automation and control, navigation andguidance, microelectronics, aerodynamics, materials science, remote sensing,geographic information, artificial intelligence, multi-disciplinary andmulti-domain together of the emerging high-tech industries. Compared withmanned aircraft, unmanned aerial vehicles with small size, light weight, energyconsumption, flexibility, mobility outstanding development of low cost,adaptability to complex environmental and other advantages, the military andnational defense construction in all fields has a very broad prospects fordevelopment. As one of the key techniques of UAV,navigation system in UAVflight management plays a vital role, the navigation system will directlydetermine whether the normal UAV flight and complete the final given task. Inview of the mountains and other terrain UAV regional disaster rescue the hugepotential of this paper, mini-UAV as the research object, in accordance with itsflight status in mountainous terrain and other complex environments, related tonavigation issues the in-depth research as follows:First, according to navigation algorithms of SINS and GPS, we introducedsome important coordinate system and the major transformation betweencoordinate systems, navigation algorithm and error model was derived analysisabout SINS and GPS, designed a typical trajectories in mountains about UAVflight, and the SINS data simulation for the design of integrated navigationsystem had laid an important foundation.Secondly, the theory of Kalman Filter was introduced, Researched based onSINS/GPS integrated navigation system filtering algorithm, variouscombinations were introduced, and the advantages and disadvantages wereanalyzed, considering the feasibility of project realization is proposed Based onthe position, velocity combinations loose combination, the initial conditionsbased on the existing navigation algorithms for mathematical simulation resultsshowed that constitute a GPS-aided SINS integrated navigation system that caneffectively suppress the divergence SINS errors, navigation accuracy wassignificantly improved. Again, as UAV flighting in mountains and other complex terrain during theflight environment, in this case there may be loss of GPS signal, leading to theintegrated navigation system can not work. In this situation, we improved thecombination of navigation information fusion algorithms, proposed a ripidcompensation algorithm and executed simulation verification. The results showedthat the ripid compensation algorithm in short time can effectively suppressexcessive divergence SINS errors, the navigation accuracy could be controlledwithin a certain range.