GPS-INS-BARO hybrid navigation system taking into account ground effect for autonomous unmanned helicopter
GPS-INS-BARO hybrid navigation system taking into account ground effect for autonomous unmanned helicopter
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DOI：
10.1109/ssrr.2012.6523885
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发表时间：
2012-11
期刊：
影响因子：
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通讯作者：
H. Nakanishi;S. Kanata;T. Sawaragi
中科院分区：
文献类型：
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作者：
H. Nakanishi;S. Kanata;T. Sawaragi
自主无人直升机在灾害响应活动中是有用的，但其可靠性需要改进以扩大其应用领域。采用卡尔曼滤波的GPS-INS混合导航系统已被用于提高无人直升机的可靠性，但它们对GPS测量数据缺失的鲁棒性较差。GPS测量的垂直精度低于水平精度。惯导系统的垂直通道不稳定。在GPS-INS组合导航系统中加入高度传感器，有望提高系统的精度和可靠性。气压高度表虽然不那么精确，但由于它的方便而被广泛使用。然而，对于无人直升机，已知气压计高度向下偏离直升机接近地面的实际高度。这种现象是由于地面效应造成的。针对自主式无人直升机，研究了考虑地面效应的GPS-INS-BARO混合导航系统的构建方法。我们采用集中式方法集成不同的传感器，并进行异步测量更新。利用数值模拟结果，成功地估计的参数集。
Autonomous unmanned helicopters are useful in disaster response activities, but their reliability needs improvement to broaden its application area. GPS-INS hybrid navigation systems using Kalman Filter have been used to improve the reliability of autonomous unmanned helicopters, but they are not robust against the absence of GPS measurements. The vertical accuracy of GPS measurement is less than horizontal ones. The vertical channel of INS is unstable. Adding the altitude sensor to GPS-INS hybrid navigation system is expected to increase the accuracy and improve reliability. Barometric altimeter is not so accurate, but it is widely used because of its convenience. For unmanned helicopters, though, it is known that the barometer altitude deviate downward from the actual altitude, where the helicopter is close to the ground. This phenomena is due to the ground effect. This paper describes the method to build GPS-INS-BARO hybrid navigation system, which takes into account the ground effect for the autonomous unmanned helicopter. We adopted a centralized approach to integrate different sensors with asynchronous measurement updates. The parameter sets for successful estimation were shown using numerical simulation results.