| In the modern war, the high-precision Time Sensitive Target(TST) localization by UAV Airborne Photo-electricity Measurement Equipment(APME) is the important prerequisite for precision strike and decision-making. The high-precision target localization makes more requirements for the independence, the reliability and accuracy of airborne navigation system. How to use the external measurement information to improve the accuracy of airborne navigation system to meet the requirements of high-precision target localization needs to be solved. Therefore, this paper researched the online calibration technology on integrated navigation system errors in high-precision UAV target localization. The research aimed to realize the long-endurance, high-precision, autonomous navigation system, and provide a theoretical and methodological reference for the UAV high-precision target localization.According to the key technologies of target localization by APME, high-precision target location overall program is proposed. It covers the high accuracy airborne integrated navigation system and three target location methods, which are based on different target measurement information. Three kinds of location methods, including the single positioning method, the two-point space rendezvous positioning method and the three-point positioning method are compared and analyzed. The influences of different error sources in single positioning method are analyzed especially. It provides a theoretical basis for the research of the method to improve the UAV target localization accuracy.In order to reduce the influence of UAV airborne navigation system on target location, this paper presents an online calibration method for the Inertial Measurement Unit(IMU) errors in high-precision integrated navigation system. The Kalman filter(KF) model including installation errors, the scale factor errors and random constant errors of IMU as state variables for online calibration is established. The calibration results of different IMU errors under different maneuvering modes are analyzed. The Kalman filter model can calibrate the IMU errors efficiently, and improve the navigation precision. It provides a model foundation for the realization of high-precision target localization.Considering the UAV movement characteristics for calibration technology on high-precision airborne navigation system, which is used to improve the accuracy of target location. The dynamic excitation method on integrated navigation system errors is proposed as the input for online calibration technology. It deduces the output of IMU with basic flight parameters. The relationship between IMU errors and aircraft maneuvering modes is established, and the observabilities of different IMU errors under different maneuvering modes are analyzed to prove the validity of the error excitation method. It provides a design reference for the excitation track of UAV to realize high-precision target localization.Based on the study of the theory, method and algorithm of the online calibration technology on integrated navigation system errors in high-precision UAV target localization, the simulation platform is built. It provides a good verification mean for the studied technology. |
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