CAJ | 학술논문

结合无人机编队飞行问题，提出了一种由惯性导航系统、GPS导航系统和视觉导航设备组成的高精度容错相对导航系统，为无人机编队控制任务提供了高精度相对导航信息。推导了相对导航数学模型，采用层次化分散融合结构融合相对导航传感器数据，提高了系统容错性。长机与僚机之间通过数据链进行数据交换，使用信息滤波方法融合相对惯导信息、相对GPS以及相对视线矢量信息，估计出相对姿态、位置和速度。最后，进行了数学仿真研究，仿真结果表明：通过采用余度设计，提高了系统的容错性；与单独的惯导/GPS 系统和惯导/视觉系统相比，高精度容错相对导航系统的位置误差分别提高了0.85 m和0.06 m，收敛时间分别提高了20 s和10 s。
결합무인궤편대비행문제，제출료일충유관성도항계통、GPS도항계통화시각도항설비조성적고정도용착상대도항계통，위무인궤편대공제임무제공료고정도상대도항신식。추도료상대도항수학모형，채용층차화분산융합결구융합상대도항전감기수거，제고료계통용착성。장궤여료궤지간통과수거련진행수거교환，사용신식려파방법융합상대관도신식、상대GPS이급상대시선시량신식，고계출상대자태、위치화속도。최후，진행료수학방진연구，방진결과표명：통과채용여도설계，제고료계통적용착성；여단독적관도/GPS 계통화관도/시각계통상비，고정도용착상대도항계통적위치오차분별제고료0.85 m화0.06 m，수렴시간분별제고료20 s화10 s。
A fault-tolerant relative navigation system which is made up of inertial navigation system, Global Positioning System and Vision sensors is presented to solve formation flight of Unmanned Aerial Vehicles, in which the relative navigation system can provide the relative information for formation flight of UAV. Meanwhile, the mathematics models are derived. The data from relative navigation sensors is fused by using hierarchically decentralized structure which helps to promote fault-tolerance. The information filtering is implied to estimate the precise relative position, velocity and attitude by fusing the relative inertial, relative GPS and line of sight measurements while the communication between leader and follower could be achieved via data link. Finally, the simulations are performed, which show that the fault-tolerance of relative navigation are improved by the redundancy design. The relative position error can be improved by 0.85 m and 0.06 m, respectively, compared to INS/GPS system and INS/Vision system, and the convergence times are shorten by 20 s and 10 s, respectively.