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无人机在军事、民用领域发挥着越来越重要的作用,提高无人机导航系统的精度有十分重要的意义.为达到提高无人机导航精度的目的,将惯性导航系统(INS)与中国北斗二号(BD-2)相融合,提出了INS/BD-2组合的无人机导航策略.经过分析,建立了基于间接法的系统模型,其测量方程为非线性方程.在组合导航算法上采用了处理非线性问题常用的粒子滤波算法对组合导航系统进行解算,并通过MATLAB软件对算法进行了仿真分析,仿真结果证明,与传统的EKF算法相比,该算法可提高组合导航系统的导航精度.
UAV plays an increasingly important role in military and civil fields and it is very important to improve the accuracy of UAV navigation system.In order to improve the precision of UAV navigation, (BD-2), the INS / BD-2 combined UAV navigation strategy is proposed.Through the analysis, a system model based on indirect method is established, and the measurement equation is nonlinear equation.In the integrated navigation The algorithm uses a particle filter algorithm commonly used to deal with nonlinear problems to solve the integrated navigation system, and the algorithm is simulated by MATLAB software. The simulation results show that compared with the traditional EKF algorithm, this algorithm can improve the performance of the integrated navigation System navigation accuracy.