An Inertial / Altimetric / Infrared / Geomagnetic Integrated Navigation Method for Unmanned Aerial Vehicles

Abstract

Unmanned aerial vehicle (UAV), is an unmanned aircraft operated by radio remote control equipment and self-contained program control device. When Unmanned Aerial Vehicle is on mission, its location information needs to be acquired to navigate it. Based on the research background of Unmanned Aerial Vehicle navigation information measurement, a passive integrated navigation mode of Inertial / Altimeter / Infrared / Geomagnetism Navigation method is designed in this paper. Firstly, several methods for Unmanned Aerial Vehicle navigation, including geomagnetic navigation, infrared navigation, inertial navigation and altimeter measurement, are introduced, and the advantages and disadvantages of various navigation methods are presented. Secondly, aiming at the problem that the output of barometric altimeter is affected by temperature and pressure, a temperature and pressure compensation model of barometric altimeter is established. Then, the attitude angle, velocity and position measurement models of inertial, infrared and geomagnetic navigation are established respectively. Finally, the data information of inertial / altimeter / infrared / geomagnetism measurement model is fused by extended Kalman filter and Unscented Kalman filter, and the signals processed by the two filters are compared. The reliability of the integrated navigation method is verified by simulation. This method has remarkable effect on improving the navigation accuracy of UAV and can make UAV suitable for many applications. It is simple and effective, and has wide application prospects.