Piezoelectrics & Acoustooptics, Volume. 47, Issue 1, 172(2025)
Improved Adaptive Transfer Alignment Algorithm for UAV-Borne Micro-Inertial Navigation
Transfer alignment is the key technology for the low-cost micro-inertial navigation system implemented in precision-guided weapons, which relates to the combat effectiveness of the weapon system. This study investigated the transfer alignment method of a low-cost micro-inertial navigation system based on flight tests of an unmanned aerial vehicle (UAV) from TENGDUN Technology. First, an improved adaptive Kalman filter was proposed based on an analysis of the velocity and attitude matching method, whereby the lever effect and data delay were compensated online and estimated in real-time. Subsequently, the algorithm was flight-tested on the TENGDUN UAV platform. Compared with the traditional Kalman filter method, the improved algorithm effectively improved the performance of transfer alignment and aligned the accuracy of the heading angle to meet the requirements of 0.65° (1σ). Selective analysis was conducted to determine the reason for the reduction in course misalignment angle estimation precision under the transfer alignment mode of the S-shaped turning maneuver-assisted wing of the UAV. Finally, the low-cost micro-inertial navigation system transfer alignment method and performance were analyzed and evaluated comprehensively, based on which a practical solution suitable for actual combat was provided.
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CHENG Yaoqiang, YANG Pengxiang, SUN Mingyao, ZHAO Zhiyuan. Improved Adaptive Transfer Alignment Algorithm for UAV-Borne Micro-Inertial Navigation[J]. Piezoelectrics & Acoustooptics, 2025, 47(1): 172
Received: Sep. 1, 2024
Accepted: Apr. 17, 2025
Published Online: Apr. 17, 2025
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