Research on IMM-UKF Based Civilian Unmanned Aerial Vehicle Integrated Navigation Algorithm

DOI

10.2991/ncce-18.2018.117How to use a DOI?

Keywords

CUAV; GPS; navigation; INS; BDS; Global Positioning System; IMM-UKF.

Abstract

The main navigation method of Civilian Unmanned Aerial Vehicle (CUAV) is Global Positioning System (GPS) navigation, GPS navigation failure will make CUAV lost control, resulting in heavy losses. How to ensure the reliability and navigation precision of CUAV under the failure of GPS is a hot issue currently studied. In this paper, the self-developed Beidou satellite navigation system (BDS) by China is used to assist the Inertial Navigation System (INS) of CUAV navigation, when the GPS navigation is failure. The IMM-UKF method is used to overcome the uncertainties of statistical characteristics and the dispersion of filtering. The algorithm is verified by MATLAB software. The simulation results show that compared with the traditional EKF algorithm, this IMM-UKF algorithm can improve the navigation accuracy of the integrated navigation system, and prevent the filter diverging. It can effectively solve the problem of navigational problems of CUAV under GPS failure.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Ming Liu
PY  - 2018/05
DA  - 2018/05
TI  - Research on IMM-UKF Based Civilian Unmanned Aerial Vehicle Integrated Navigation Algorithm
BT  - Proceedings of the 2018 International Conference on Network, Communication, Computer Engineering (NCCE 2018)
PB  - Atlantis Press
SP  - 712
EP  - 718
SN  - 1951-6851
UR  - https://doi.org/10.2991/ncce-18.2018.117
DO  - 10.2991/ncce-18.2018.117
ID  - Liu2018/05
ER  -