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针对捷联惯导/GPS组合导航系统的抗干扰性差、捷联惯导/星敏感器组合系统不能解决惯导位置发散的问题,提出了一种采用捷联惯导与基于间接敏感地平的天文导航相组合的长航时无人机导航新方案。分析了最小二乘微分校正天文定位方法对无人机的定位原理,设计了组合导航的滤波器,推导了系统的观测矩阵。仿真结果证明,组合方法能较好地实现无人机的定位定姿,具有较强的抗干扰性和较高精度,可以满足长航时无人机导航系统的要求。
In view of the poor anti-jamming performance of SINS / GPS integrated navigation system, the strapdown inertial navigation system / star sensor system can not solve the problem of divergence of inertial navigation position, and a new method using SINS and indirect sensitive horizon based astronomy Navigation combination of long flights UAV navigation program. The principle of locating UAV based on Least Square Differential Calculus is analyzed. The filter of combined navigation is designed and the observation matrix of the system is deduced. The simulation results show that the combination method can better realize the positioning and attitude setting of UAV, with strong anti-interference and high accuracy, which can meet the requirements of long-range UAV navigation system.