区域导航无人机空中基准站的多源信息融合容错导航系统研究

doi:10.3969/j.issn.1674-5558.2020.h4.013

导航与控制 ›› 2020, Vol. 19 ›› Issue (4/5): 111-118.doi: 10.3969/j.issn.1674-5558.2020.h4.013

区域导航无人机空中基准站的多源信息融合容错导航系统研究

刘建业^1,2,3, 许建新¹, 熊智^1,2,3, 王融^1,2,3

1.南京航空航天大学导航研究中心,南京 211106;
2.先进飞行器导航、控制与健康管理工业和信息化部重点实验室,南京 211106;
3.卫星通信与导航江苏高校协同创新中心,南京 210016

收稿日期:2020-03-15 出版日期:2020-10-05 发布日期:2020-12-22
作者简介:刘建业,男,教授/工学博士,博士生导师,南京航空航天大学导航研究中心主任。35年来一直从事捷联惯性导航技术、导航与控制、卫星定位系统应用、组合导航等研究,主持国家和国防预研项目、国家自然科学重点基金等多类研究和应用项目,近年来在多信息智能融合导航技术、人工智能类脑导航等新领域开展研究,指导培养了49名博士生。曾参与获得国家科技进步二等奖、国防科技和发明二等奖等,获得国家发明专利85项,近五年来发表学术论文100多篇。
基金资助:
国家自然科学基金(编号:61673208,61873125,61533008,61533009,61703208);江苏省自然科学基金(编号:BK20181291,BK20170815,BK20170767);江苏高校优势学科建设工程项目和江苏省“物联网与控制技术”重点实验室基金;中央高校基本科研业务费专项资金(编号:NP2018108,NZ2019007)

Research on Multi Information Fusion and Fault Tolerant Navigation System of Air Reference Station Based on UAVs in Regional Navigation

LIU Jian-ye^1,2,3, XU Jian-xin¹, XIONG Zhi^1,2,3, WANG Rong^1,2,3

1. Navigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 211106;
2. Key Laboratory of Navigation, Guidance and Health-management Technologies of Advanced Aerocraft, Ministry of Industry and Information Technology, Nanjing 211106;
3. Satellite Communication and Navigation Collaborative Innovation Center, Nanjing 210016

Received:2020-03-15 Online:2020-10-05 Published:2020-12-22

摘要/Abstract

摘要： 作为卫星导航系统的补充和备份,区域导航服务系统近年来得到较大发展。在基于无人机的区域导航服务系统中,无人机自身的定位精度对区域导航服务系统的可靠运行有直接的影响。针对无人机导航传感器及系统的容错和可靠性问题,设计了具有针对性和自优化功能的多源信息融合容错导航方案,提出了一种优化的基于矢量分配形式的自适应联邦滤波算法。通过对每个状态量设计不同的信息分配系数,实现传感器量测噪声的动态优化调整,有效减小了传感器故障对融合导航系统的影响,提高了无人机导航系统的鲁棒性。验证分析表明,该方法可以减小子滤波器故障信息对融合导航系统联邦滤波全局估计的影响,避免了故障子滤波器在信息重置过程中对系统造成的污染,提高和保障了无人机空中基准站多源信息融合导航系统的稳定性和可靠性。

关键词: 区域导航, 组合导航, 联邦滤波, 矢量信息分配, 无人机, 空中基准站

Abstract: As a supplement and backup of GNSS, regional navigation system has been greatly developed in recent years. In the regional navigation system based on UAV, the positioning accuracy of UAV has a direct impact on the reliability of the regional navigation system. In order to improve the performance of UAV in a navigation system, a fault-tolerant navigation scheme for multi information fusion based on two-state chi-square detection is designed, and an adaptive federated filtering algorithm using vector-formed information distribution is proposed. The dynamic adjustment of measurement noise is realized by using different information distribution coefficients for each state variable, which effectively reduces the influence of sensor fault and improves the robustness of the integrated navigation system. The simulation results show that this method can reduce the influence of fault information on the global estimation of federated filter, and improve the robustness of the UAV's integrated navigation system

Key words: regional navigation, integrated navigation, federated filter, vector-form information distribution, unmanned aerial vehicle(UAV), air-based reference station

中图分类号:

U666.1

刘建业, 许建新, 熊智, 王融. 区域导航无人机空中基准站的多源信息融合容错导航系统研究[J]. 导航与控制, 2020, 19(4/5): 111-118.

LIU Jian-ye, XU Jian-xin, XIONG Zhi, WANG Rong. Research on Multi Information Fusion and Fault Tolerant Navigation System of Air Reference Station Based on UAVs in Regional Navigation[J]. Navigation and Control, 2020, 19(4/5): 111-118.

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区域导航无人机空中基准站的多源信息融合容错导航系统研究

Research on Multi Information Fusion and Fault Tolerant Navigation System of Air Reference Station Based on UAVs in Regional Navigation

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