飞行器气动模型辅助惯性导航的关键技术研究

发布时间：2018-08-14 18:06

【摘要】：20世纪以来,导航系统在人类经济、军事活动中发挥着必不可少的作用。随着无人飞行载体任务多样性和复杂性的不增加,在实际应用中对载体导航系统的精度、可靠性以及自主性等方面提出了越来越高的要求。惯性/GPS组合导航系统是飞行器目前常用的导航方式。然而,由于GPS信号易受外界干扰,在GPS失效的情况下该组合导航系统的导航精度会受到较大影响。因此近年来基于惯性导航系统的无GPS自主导航技术逐渐成为导航技术领域的热点之一。气动模型辅助导航是近年来发展的一种新型自主导航方法,具有自主性强、成本低、应用范围广等优点。论文以无人飞行器为对象,针对气动模型辅助惯性导航系统关键技术展开了探索性研究,旨在提高GPS失效情况下的导航系统精度与可靠性。论文研究工作为气动模型辅助惯性导航技术的应用和推广提供了较好的参考价值。首先,论文对固定翼无人机气动模型特性进行了分析,根据无人机的六自由度运动模型,研究了基于飞行器气动模型的导航参数解算流程;系统地分析了扰动误差源对气动模型解算导航信息的影响,并推导了利用气动模型进行导航参数解算的误差传播方程。其次,针对飞行器气动模型解算导航信息过程中对气动参数误差敏感的问题,论文研究了气动参数误差在导航参数解算中的传播特性。根据气动模型误差传播方程,设计了一种基于扩展卡尔曼滤波的气动模型参数辨识算法,有效提高了飞行器气动模型精度,降低了由模型精度带来的导航信息解算误差。接着,为了进一步优化对气动模型导航信息的利用,并提高气动模型信息辅助导航系统的性能,论文根据气动模型误差特性,分别提出并设计了速度/姿态融合、加速度/角加速度融合两种气动模型辅助惯性导航的融合方案。在提出的加速度/角加速度信息融合导航方案中,以惯性测量元件的输出作为观测量,从而构建出相应的系统状态方程和量测方程,并通过两种方案的结果表明数据融合方案对气动模型辅助导航效果的影响。最后,为了对固定翼无人机气动模型辅助惯性导航方案的理论分析进行全面、直观的验证,论文在Matlab/Simulink环境下搭建了无人飞行器气动模型辅助导航仿真验证平台。该平台具有航迹生成、飞行器导航、制导与控制等功能,可以实现对无人机气动模型、机载传感器以及组合导航系统的模拟,并验证了论文中所设计的组合导航方案可行性与有效性。该仿真平台在气动模型辅助导航的技术研究中具有较好支撑作用。气动模型辅助导航技术涉及导航、控制、空气动力学等多学科领域。论文针对技术中气动模型误差特性、数据融合方案进行基础性研究,为后续的研究提供了理论基础与发展方向。
[Abstract]:Since the 20th century, navigation system has played an essential role in human economy and military activities. With the increasing diversity and complexity of UAV mission, the accuracy, reliability and autonomy of the vehicle navigation system are becoming more and more important in practical applications. Inertial / GPS integrated navigation system is a common navigation method for aircraft at present. However, because the GPS signal is easily disturbed by the outside world, the navigation accuracy of the integrated navigation system will be greatly affected by the failure of the GPS. In recent years, GPS-free autonomous navigation technology based on inertial navigation system has become one of the hotspots in navigation technology field. Pneumatic model aided navigation is a new autonomous navigation method developed in recent years, which has the advantages of strong autonomy, low cost and wide application. In this paper, the key technologies of the aerodynamic model aided inertial navigation system are studied in order to improve the accuracy and reliability of the navigation system under the condition of GPS failure. The research work provides a good reference value for the application and popularization of pneumatic model aided inertial navigation technology. Firstly, the characteristics of the aerodynamic model of the fixed-wing UAV are analyzed. According to the six-degree-of-freedom motion model of the UAV, the flow of calculating the navigation parameters based on the aerodynamic model of the aircraft is studied. The effect of disturbance error source on navigation information of aerodynamic model is systematically analyzed, and the error propagation equation of navigation parameter solution using pneumatic model is derived. Secondly, aiming at the problem that the aerodynamics model is sensitive to the aerodynamic parameter error in the course of solving navigation information, the propagation characteristics of the aerodynamic parameter error in the navigation parameter calculation are studied in this paper. According to the error propagation equation of aerodynamic model, an algorithm of aerodynamic model parameter identification based on extended Kalman filter is designed, which can effectively improve the precision of aerodynamic model of aircraft and reduce the error of navigation information calculation. Then, in order to optimize the use of navigation information of pneumatic model and improve the performance of pneumatic model information aided navigation system, according to the error characteristics of pneumatic model, the velocity / attitude fusion is proposed and designed in this paper. Acceleration / angular acceleration fusion two fusion schemes of pneumatic model aided inertial navigation. In the proposed acceleration / angular acceleration information fusion navigation scheme, the output of the inertial measurement element is taken as the observation quantity, and the corresponding system state equation and measurement equation are constructed. The results of the two schemes show the effect of the data fusion scheme on the aerodynamic model aided navigation. Finally, in order to fully and intuitively verify the theoretical analysis of the aerodynamic model aided inertial navigation scheme of fixed-wing UAV, the simulation and verification platform of UAV aerodynamic model aided navigation is built in Matlab/Simulink environment. The platform has the functions of track generation, aircraft navigation, guidance and control, and can realize the simulation of UAV aerodynamic model, airborne sensor and integrated navigation system. The feasibility and effectiveness of the integrated navigation scheme designed in this paper are verified. The simulation platform plays a better supporting role in the research of aerodynamics model aided navigation technology. The aerodynamics model aided navigation technology involves the navigation, the control, the aerodynamics and so on multi-disciplinary domain. In this paper, the error characteristics of pneumatic model and the data fusion scheme are studied, which provides the theoretical basis and development direction for further research.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V249.3

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