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

Abstract

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)

CLC Number:

V249.3

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.

Figures/Tables 21

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

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