A SINS/GPS Integrated UAV Location Algorithm Combined with H∞ Filter

doi:10.13474/j.cnki.11-2246.2018.0136

Abstract

Abstract:

In the high dynamic complex environments of UAV mobile positioning,the SINS system may have error drift and the GPS signal may interrupted.Study on rotorcraft UAV positioning,a method for measuring precise position information of target by UAV based on the velocity and position information is given.Using H^∞ Filter algorithm for fusion of measurement data,the method has the merits of GPS and SINS positioning technology and further reduces the positioning error,especially suitable for long time navigation.Experiment results show that:When H^∞ filtering is introduced into the combined navigation and positioning,that can improve the convergence of the filter,but also to maintain high accuracy of positioning.

Key words: UAV, positioning, H^∞ filter, error, simulation

CLC Number:

P228.4

WANG Kunlun, TAO Tingye, HUANG Zuoji, WANG Chunlin. A SINS/GPS Integrated UAV Location Algorithm Combined with H^∞ Filter[J]. 测绘通报, 2018, 0(5): 16-19.

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A SINS/GPS Integrated UAV Location Algorithm Combined with H^∞ Filter

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