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在SINS/GPS组合的基础上研究了一种基于磁测增强的高空长航无人机组合导航方案,分为GPS完好和失效2种情况。当GPS完好时,将磁强计输出的载体系下磁场矢量与根据GPS输出位置求得的地理系下磁场矢量对比,获得了姿态信息以校正陀螺输出;同时,由磁强计输出求得磁场强度模值,通过磁场匹配得到位置信息,进一步提高了系统的导航精度,使磁测信息得到充分利用。当GPS失效时,利用磁场匹配辅助惯性导航,可达到一定的精度。仿真结果表明,当GPS完好时组合导航系统的姿态精度优于0.01°,位置和速度的精度分别达到1.88 m和0.084 m/s;而当GPS失效时,SINS与磁测信息组合的位置和速度精度也分别达到了20.75 m和0.63 m/s。
Based on the SINS / GPS combination, a combined navigation scheme of high-altitude long-haul UAV based on magnetic enhancement is studied, which is divided into two kinds of cases: intact GPS and failure. When the GPS is intact, the magnetic field vector of the system output by the magnetometer is compared with the magnetic field vector of the geography system obtained from the GPS output position, and the attitude information is obtained to correct the gyro output; at the same time, the magnetic field is obtained by the output of the magnetometer Intensity modulus, location information obtained by the magnetic field matching to further improve the navigation accuracy of the system so that the magnetic measurement information is fully utilized. When the GPS fails, the use of magnetic matching auxiliary inertial navigation, can achieve a certain accuracy. The simulation results show that the attitude accuracy of integrated navigation system is better than 0.01 ° and the accuracy of position and velocity are 1.88 m and 0.084 m / s, respectively, when the GPS is in good condition. When the GPS fails, the position and velocity of SINS combined with the magnetic information Accuracy reached 20.75 m and 0.63 m / s, respectively.