NASRUKF UAV based on combined navigation algorithm

Yihe Wang; Guifen Chen; Xinzhou Li; Guangjiao Chen

doi:10.1117/12.2682503

20 June 2023 NASRUKF UAV based on combined navigation algorithm

Yihe Wang, Guifen Chen, Xinzhou Li, Guangjiao Chen

Proceedings Volume 12715, Eighth International Conference on Electronic Technology and Information Science (ICETIS 2023); 127152D (2023) https://doi.org/10.1117/12.2682503
Event: Eighth International Conference on Electronic Technology and Information Science (ICETIS 2023), 2023, Dalian, China

Abstract

Combined navigation system is a navigation and positioning system composed of inertial navigation system and BeiDou satellite navigation system. Most of the navigation system models in combined navigation are nonlinear, but the traditional Kalman filtering algorithm is not well applied to nonlinear equations, and the Unscented Kalman filtering algorithm and Extended Kalman filtering algorithm which can be applied to nonlinear equations are constant in the fusion process of noise, so it will cause filtering divergence. In this paper, on the basis of Unscented Kalman filtering algorithm proposed will introduce the square root traceless Kalman filter algorithm, the algorithm through QR decomposition and Cholesk decomposition, the Sage-Husa algorithm combined with Square Root Unscented Kalman Filter algorithm, directly calculate the state error covariance matrix prediction and estimation of the square root factor, maintain the stability of the filtering, through practice proved that compared to Kalman filtering .The Nonlinear adaptive regression square root Kalman filter filter has a good navigation and positioning function, as the filtering is more convergent and the position accuracy can be within 5m, the speed error can be between 0.5m/s-1m/s. Compared with KF algorithm, the position error is increased by about 75%, and the speed error is increased by about 50%.

Citation Download Citation

Yihe Wang, Guifen Chen, Xinzhou Li, and Guangjiao Chen "NASRUKF UAV based on combined navigation algorithm", Proc. SPIE 12715, Eighth International Conference on Electronic Technology and Information Science (ICETIS 2023), 127152D (20 June 2023); https://doi.org/10.1117/12.2682503

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KEYWORDS

Navigation systems

Signal filtering

Tunable filters

Nonlinear filtering

Electronic filtering

Unmanned aerial vehicles

Digital filtering

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