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为了提高军用无人机导航系统的自主性、可靠性和高精度,在分析了SINS、Doppler、数字地图的特点的基础上,充分利用SINS短时精度高、Doppler测速精度高、地形匹配位置精度高等优势,研究了基于SINS/Doppler/地形匹配的分布式容错组合导航系统。仿真实验表明,该组合导航系统能够实现高精度的自主定位定向,且具有一定的容错能力,具有重要的工程应用价值。
In order to improve the autonomy, reliability and precision of the UAV navigation system, based on the analysis of the features of SINS, Doppler and digital map, this paper makes full use of SINS short time accuracy, Doppler speed accuracy, terrain matching position accuracy Advanced, the distributed fault-tolerant integrated navigation system based on SINS / Doppler / terrain matching is studied. Simulation results show that the integrated navigation system can achieve high-precision autonomous positioning and orientation with a certain degree of fault tolerance and has important engineering application value.