无人机INS_GPS组合导航算法研究.pdf

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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