基于AHRS的GNSS间断拒止下低成本无人机导航方法

doi:10.12305/j.issn.1001-506X.2025.07.25

系统工程与电子技术 ›› 2025, Vol. 47 ›› Issue (7): 2329-2338.doi: 10.12305/j.issn.1001-506X.2025.07.25

• 制导、导航与控制 • 上一篇

基于AHRS的GNSS间断拒止下低成本无人机导航方法

林思颖¹^,², 郁丰¹^,²^,*, 熊智³, 吴方⁴, 周紫君¹^,²

1. 南京航空航天大学航天学院, 江苏南京 211106
2. 空间光电探测与感知工业和信息化部重点实验室, 江苏南京 211106
3. 南京航空航天大学自动化学院, 江苏南京 211106
4. 华东计算技术研究所, 上海 201808

收稿日期:2024-03-06 出版日期:2025-07-16 发布日期:2025-07-22
通讯作者: 郁丰
作者简介:林思颖(2000—), 女, 硕士研究生, 主要研究方向为组合导航、集群导航
郁丰(1980—), 男, 研究员, 博士, 主要研究方向为自主导航、微纳卫星控制
熊智(1976—), 男, 研究员, 博士, 主要研究方向为惯性组合导航、类脑导航
吴方(1989—), 女, 工程师, 硕士, 主要研究方向为项目管理与计算机应用
周紫君(1997—), 女, 博士研究生, 主要研究方向为集群导航与控制
基金资助:
国家自然科学基金(61673212)

Low-cost UAV navigation method based on AHRS for GNSS intermittent denial

Siying LIN¹^,², Feng YU¹^,²^,*, Zhi XIONG³, Fang WU⁴, Zijun ZHOU¹^,²

1. School of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China
2. Key Laboratory of Space Photoelectric Detection and Perception, Nanjing 211106, China
3. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China
4. East-China Institute of Computer Technology, Shanghai 201808, China

Received:2024-03-06 Online:2025-07-16 Published:2025-07-22
Contact: Feng YU

摘要/Abstract

摘要：

为了提高低成本小型无人机在全球卫星导航系统(global navigation satellite system, GNSS)信号受到干扰时的导航性能, 提出一种基于航姿参考系统(attitude and heading reference system, AHRS)的导航方法。采用AHRS输出的误差有界的姿态信息构建航位推算模型, 在GNSS信号拒止时可有效延缓导航误差的发散; 在GNSS信号有效时, 通过对姿态角的修正进一步提高导航精度。仿真结果显示, 在组合阶段, 所提方法能够进一步提高姿态角精度, 且导航精度与传统惯性导航系统相当; 在拒止阶段, 所提方法的水平和高程的位置精度分别比惯导提高了83.3%和45.9%。最后, 通过半物理试验验证了仿真结果的可靠性。

关键词: 航姿参考系统, 组合导航, 拒止环境, 小型无人机

Abstract:

To improve the navigation performance of low-cost small unmanned aerial vehicle (UAV) when the global navigation satellite system (GNSS) signal is disturbed, a navigation method based on attitude and heading reference system (AHRS) is proposed. A dead reckoning model is constructed by using the error-bounded attitude information output of the AHRS, which can effectively delay the divergence of navigation errors during GNSS signal's denial. When the GNSS signal is effective, the navigation accuracy is further improved by correcting the attitude angle. The simulation results show that in the combination phase, the proposed method can further improve the attitude angle accuracy, and the navigation accuracy matches the traditional inertial navigation system. In the denial phase, the positional accuracy of the proposed method in horizontal and elevation is improved by 83.3% and 45.9% respectively compared to the inertial navigation system. Finally, the reliability of the simulation results is verified by semi-physical experiments.

Key words: attitude and heading reference system (AHRS), integrated navigation, denial environment, small unmanned aerial vehicle (UAV)

中图分类号:

V249.3

林思颖, 郁丰, 熊智, 吴方, 周紫君. 基于AHRS的GNSS间断拒止下低成本无人机导航方法[J]. 系统工程与电子技术, 2025, 47(7): 2329-2338.

Siying LIN, Feng YU, Zhi XIONG, Fang WU, Zijun ZHOU. Low-cost UAV navigation method based on AHRS for GNSS intermittent denial[J]. Systems Engineering and Electronics, 2025, 47(7): 2329-2338.

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传感器类型	误差项	数值
陀螺仪	常值漂移/(°/h)	3.0
	一阶马尔可夫漂移/(°/h)	6.0
	相关时间/s	1 000
	噪声密度/(°/s/$\sqrt{\mathrm{Hz}}$)	0.007
加速度计	一阶马尔可夫漂移/(°/h)	3.8×10^-4
加速度计	相关时间/s	800
AHRS	俯仰/滚转均方根/(°)	0.2
	滚转均方根/(°)	0.2
	偏航均方根/(°)	1.0

误差项		数值
误差项		X₁(12维)	X₂(9维)
姿态角误差/(°)	横滚角	0.078 2	0.201 2
	俯仰角	0.076 4	0.214 9
	偏航角	0.929 5	0.941 2
位置误差/m	东向	0.271 1	0.287 2
	北向	0.278 9	0.311 1
	天向	0.268 5	0.275 2
速度误差/(m/s)	东向	0.034 3	0.050 8
	北向	0.035 3	0.052 0
	天向	0.012 6	0.013 8

误差项		数值
姿态角RMSE/(°)	横滚	0.028 8
	俯仰	0.031 6
	偏航	1.066 7
位置RMSE/m	东向	0.286 0
	北向	0.287 7
	天向	0.280 1

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基于AHRS的GNSS间断拒止下低成本无人机导航方法

Low-cost UAV navigation method based on AHRS for GNSS intermittent denial

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