Study on robust compensation filter of heading measurement for UAV

REN Ai-ai1; SUN Yong-rong1; HU Ying-dong1; CHEN Wu2

doi:10.13873/j.1000-97872009.05.012

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Study on robust compensation filter of heading measurement for UAV

更新时间：2025-09-11

- Study on robust compensation filter of heading measurement for UAV
- Vol. 28, Issue 5, Pages: 34-36+39(2009)
- 作者机构：
  
  1. 南京航空航天大学导航研究中心
  2. 香港理工大学大地测量与资讯学系
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872009.05.012
  CLC： TN713;V279
- Published：2009
- 稿件说明：
移动端阅览
[1]任爱爱,孙永荣,胡应东,陈武.无人机航向测量抗差补偿滤波技术研究[J].传感器与微系统,2009,28(05):34-36+39.

REN Ai-ai1, SUN Yong-rong1, HU Ying-dong1, et al. Study on robust compensation filter of heading measurement for UAV[J]. 2009, 28(5): 34-36+39.
[1]任爱爱,孙永荣,胡应东,陈武.无人机航向测量抗差补偿滤波技术研究[J].传感器与微系统,2009,28(05):34-36+39. DOI： 10.13873/j.1000-97872009.05.012.

REN Ai-ai1, SUN Yong-rong1, HU Ying-dong1, et al. Study on robust compensation filter of heading measurement for UAV[J]. 2009, 28(5): 34-36+39. DOI： 10.13873/j.1000-97872009.05.012.

摘要

针对角速率陀螺误差随时间积累和电子磁罗盘易受外界干扰的问题

为提高低成本自主导航精度

设计了角速率陀螺和电子磁罗盘信息融合的组合方案。并对传统的补偿滤波方法进行改进

提出一种能够检测出电子磁罗盘的低频干扰

并对干扰误差进行剔除的抗差补偿滤波算法。通过对角速率陀螺和电子磁罗盘进行误差建模和仿真实验可知

抗差补偿滤波器可以有效地抑制磁罗盘高频干扰误差和角速率陀螺的积累误差

同时

也可很好地抑制磁罗盘的低频干扰误差。结果表明:研究的抗差补偿滤波算法效果明显

是一种简单可靠的航向融合方法。

Abstract

In view of the accumulation of errors produced by gyroscope and the interference of digital magnetic compass（DMC）

in order to enhance the accuracy of navigation with low cost

the program of gyroscope integrated with DMC is designed.A robust compensation filter is designed to inhibit low-frequency interference of DMC and to improve the accuracy of information integration.Simulation with gyroscope and DMC show that high-frequency interference and the accumulation of errors can be inhibited by compensation filter

in addition to the high-frequency interference and the accumulation of errors

low-frequency interference for long time can also be inhibited by the robust compensation filter

which is proofed as simple and reliable methods.

关键词

Keywords

references

磁罗盘与光纤陀螺的组合航向测量系统设计 [J]. 李俊,陈剑峰,王雪平. 计算机仿真 . 2008(02)

微小型飞行器航向系统设计 [J]. 王松,王田苗,李新军,梁建宏. 机器人 . 2006(06)

无人机航向测量的罗差修正研究 [J]. 刘诗斌,严家明,孙希任. 航空学报 . 2000(01)

组合式航向系统关键技术研究 [D]. 王璐. 西北工业大学 2007

车辆定位导航系统[M]. 中国铁道出版社 , 富立,范耀祖编著, 2004

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Related Author

SUN Yong-rong1

HU Ying-dong1

HAN Zheng-chao2

REN Ai-ai2

Related Institution

College of Automation Engineering,Nanjing University of Aeronautics & Astronautics

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