| 引用本文: | 朱惠民,贾正荣,王航宇,等.针对不同视场辅助信标的无人机目标定位方法.[J].国防科技大学学报,2019,41(3):125-136.[点击复制] |
| ZHU Huimin,JIA Zhengrong,WANG Hangyu,et al.Target location method of unmanned aerial vehicle direct at aided beacon in different field of view[J].Journal of National University of Defense Technology,2019,41(3):125-136[点击复制] |
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| 针对不同视场辅助信标的无人机目标定位方法 |
| 朱惠民1,2, 贾正荣1, 王航宇3, 孙世岩1 |
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(1.海军工程大学 兵器工程学院， 湖北 武汉 430033;2.中国人民解放军92941部队， 辽宁 葫芦岛 125000;3.海军工程大学， 湖北 武汉 430033)
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| 摘要: |
| 针对无人机在单站测角测距的目标定位过程中受无人机姿态角误差影响较大的问题，提出一种对辅助信标进行探测并与惯性传感器相结合的无人机姿态求解方法。建立基于容积卡尔曼滤波的惯性传感器姿态求解模型，采用梯度下降法对基于辅助信标的无人机位姿参数进行求解，并综合它们的结果对无人机的姿态偏差进行估计和校正，最后完成了不同视场条件下的目标定位和仿真计算。结果表明，所提方法对无人机目标定位精度有明显提高。 |
| 关键词: 辅助信标 目标定位 容积卡尔曼滤波 梯度下降法 无人机位姿估计 |
| DOI：10.11887/j.cn.201903020 |
| 投稿日期：2018-04-17 |
| 基金项目:国防科技基金资助项目（B09-2101035） |
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| Target location method of unmanned aerial vehicle direct at aided beacon in different field of view |
| ZHU Huimin1,2, JIA Zhengrong1, WANG Hangyu3, SUN Shiyan1 |
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(1.College of Weaponry Engineering, Naval University of Engineering, Wuhan 430033, China;2.The PLA Unit 9294l, Huludao 125000, China;3.Naval University of Engineering, Wuhan 430033, China)
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| Abstract: |
| Aimed at the problem that the UAV′s(unmanned aerial vehicle′s) single station angle and distance measurement are greatly affected by the UAV′s attitude angle error, a method was proposed to solve the UAV′s attitude by detecting the auxiliary beacon and combining with the inertial sensor. The attitude solving model of inertial sensor based on cubature Kalman filter was established. By using the gradient descent method, the attitude parameters of UAV based on auxiliary beacons were solved, and the results were comprehensively used to estimate and correct the attitude error of UAV. Finally the targets′ location and simulation calculation under different fields of view were completed. The results show that the proposed method can improve the precision of UAV target location. |
| Keywords: auxiliary beacons target location cubature Kalman filter gradient descent method attitude estimation of unmanned aerial vehicle |
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