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ID:35187964
大小:2.77 MB
页数:68页
时间:2019-03-21
《无人机INS_GPS组合导航算法研究.pdf》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、䜓➩⨤ḋ婸㑅ResearchonAlgorithmofINS/GPSIntegratedNavigationforUAVsMuhammadIjaz૾ቊ┞ᐛѐཝᆜ2018ᖺ6᭶国内图书分类号:V249.3学校代码:10213国际图书分类号:629.7密级:公开工学硕士学位论文无人机INS/GPS组合导航算法研究硕士研究生:MuhammadIjaz导师:王小刚申请学位:工学硕士学科:航空宇航科学与技术所在单位:航天学院答辩日期:2018年6月授予学位单位:哈尔滨工业大学ClassifiedIndex:V249.3U
2、.D.C.:629.7DissertationfortheMasterDegreeinEngineeringTheResearchonAlgorithmofINS/GPSIntegratedNavigationforUAVsCandidate:MuhammadIjazSupervisor:Prof.WangXiaoGangAcademicDegreeAppliedfor:MasterofEngineeringAeronauticalandAstronauticalSpecialty:ScienceandTech
3、nologyAffiliation:SchoolofAstronauticsDateofDefense:June,2018Degree-Conferring-Institution:HarbinInstituteofTechnologyHarbinInstituteofTechnologyMasterThesisAbstractTheobjectiveofthisthesisentitled“TheResearchonAlgorithmofINS/GPSIntegratedNavigationforUAVs”i
4、stoimplementhighdegreecubatureKalmanFilterwithHubertechniqueforintegratingmeasurementsofGPSwiththeinertialnavigationsystemmeasurementsfromgyrosandaccelerometersfordeterminingtogetherthepositionandvelocityoftheUAVs.Inertialnavigationsystemandinertialmeasureme
5、ntsfromIMUareintegratedbytheINStoattainacompletenavigationsolutionandmeasurementsfromGPSareusedtocorrectfortheerrorsandavoidthedriftofINSsystem.HuberbasedhighDegreeCubatureKalmanFilterismorecomputationallyintensiveandit’sfictionaltooutperformthantheextendedK
6、almanfilterandmorerobusttotheinitialerror.HuberbasedhighDegreeCubatureKalmanFilterisusedratherthanlinearizationofextendedKalmanfilter.Theformulationoffilterisbasedonthestandardinertialnavigationsystemtheparameterizationisprovidedbyaquaternion.Simulationresul
7、tsareshowntocomparetheperformanceofHuberbasedhighDegreeCubatureKalmanFilter,CubatureKalmanfilterwithastandardextendedKalmanfiltermethodandwecanachievethattheHuberbasedhighDegreeCubatureKalmanFiltercanachievehighaccuracythanCubatureKalmanfilterandextendedKalm
8、anfilter.Keywords:UAVsNavigation,INS/GPSNavigation,ExtendedKalmanFilter,CubatureKalmanFilter,HuberMethod.iHarbinInstituteofTechnologyMasterThesis摘要无人机是一种由动力驱动、机上无人驾驶、可重复使用的航空飞行器,在军事和民用领域都得到了广泛的应
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