小型无人飞行器GNSS/MEMS-SINS组合导航系统误差建模与抑制方法研究

As a high-technology-intensive system, the UAV (Unmanned Aerial Vehicles) industry has successfully promoted national economic growth, social development, scientific and technological innovations, which has received widespread attention all over the world. Precise approaching and automatic landing is a significant challenge for both UAVs and manned vehicles, which has also been one of the main technical bottlenecks limiting the working efficiencies and system applications. Accurate autonomous navigation for small UAVs is one of the key technologies to guarantee the implementation of autonomous flight missions such as precise approaching and automatic landing. In light of the ongoing joint precision approaching and landing system (JPALS) for small UAVs with the demand for reliable and accurate GNSS/MEMS-SINS integrated navigation, three key scientific problems have been intensively investigated in this project, which includes rapid compensation of nonlinear model errors, suppression of measurement anomalies, and suppression of the unknown errors. This project plans to conduct the research on the suppression methods of nonlinear system dynamics errors, nonlinear observation errors, colored stochastic noises, unknown model noises, measurement anomalies and process disturbances for airborne MEMS-based navigation system with high-maneuver in complex GNSS observation conditions, in order to enhance the accuracy of GNSS/MEMS-SINS integrated system for small UAV's autonomous flight ability.

作为一项高技术密集的系统工程，无人机相关技术产业已成功地推动了国家经济增长、社会进步和科学技术创新，因而被世界各国所高度重视。全自动精密进近着陆（舰）是飞行器普遍面临的重大技术难题，且已成为小型无人机系统发展的一项技术瓶颈。高精度自主导航是小型无人机突破全自动着陆（舰）瓶颈的核心关键技术之一。本项目面向我国正在开展的飞行器全自动精密进近着陆（舰）任务，以小型无人机高精度GNSS/MEMS-SINS组合导航为研究目标，针对非线性系统模型误差的快速在线补偿、非线性系统测量异常抑制、非线性自主导航系统不确定性误差抑制三大关键科学问题，拟研究在复杂观测条件下动态GNSS/MEMS-SINS组合导航系统的动力学模型非线性误差、观测模型非线性误差、不确定模型误差、相关随机误差、观测异常和模型扰动误差的抑制方法，以提高小型无人机GNSS/MEMS-SINS组合导航精度。

作为一项高技术密集的系统工程，小型无人飞行器正日益成为国民经济的增长助推器和军事战斗力的效能倍增器。全自动精密进近着陆（舰）是飞行器普遍面临的重大技术难题，且已成为小型无人机系统发展的一项技术瓶颈。高精度自主导航是小型无人机突破全自动着陆（舰）瓶颈的核心关键技术之一。本项目面向我国正在开展的飞行器全自动精密进近着陆（舰）任务，以小型无人机高精度GNSS/MEMS-SINS组合导航为研究目标，研究在复杂观测条件下动态GNSS/MEMS-SINS组合导航系统的动力学模型非线性误差、观测模型非线性误差、不确定模型误差、相关随机误差、观测异常和模型扰动误差的抑制方法，并通过车载和机载试验验证了所提方法的有效性。课题研究成果能够提高小型无人机传统机载GNSS/MEMS-SINS组合导航系统精度，相关成果能够为我国正在开展的飞行器全自动着陆（舰）任务提供了一定的理论和技术支持。