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Instruments and Systems: Monitoring, Control, and Diagnostics

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Formation of Correction Algorithms for the Navigation Complex of a Small Unmanned Aerial Vehicle
KHU TSYAOTSU, M.S. SYELYEZNYEVA, A.V. PROLYETARSKIY, K.A. NYEUSYPIN

A navigation complex of a small class unmanned aerial vehicle is considered. Improving the accuracy of navigation definitions is carried out using a non-linear Kalman filter when implementing the algorithm on board an unmanned aerial vehicle under conditions of restrictions on the performance of the special computer. The estimation accuracy depends on the available reliable information about the model of the process under study, which has a high degree of parametric uncertainty. Algorithmic support for the navigation system uses a linear or nonlinear adaptive Kalman filter with parametric identification procedures. Methods are for increasing the accuracy of parametric identification proposed based on the scalar approach and criteria for the identifiability degree. The procedure for identifying the parameters of a nonlinear model represented by the SDC method was used. The results of modeling with a flight experiment data are presented.
Keywords: unmanned aerial vehicle; linear adaptive Kalman filter; Kalman non-linear adaptive filter; parametric identification; SDC representation; inertial navigation system errors; scalar approach; identifiability degree.


DOI: 10.25791/pribor.03.2020.1155

Pp. 01-08.

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