A High Precision Autonomous Navigation Algorithm of UAV Based on MEMS Sensor

Abstract

It is very common in unmanned aerial vehicles that the Integrated Navigation System is composed of Global Positioning System (GPS) and mini Inertial Navigation System (INS) including Micro-Electro-Mechanical System (MEMS) sensors which are small in size and low in cost. However Global Navigation Satellite System (GNSS) is not available under actual combat conditions, this paper proposes a high precision autonomous navigation algorithm of Unmanned Aerial Vehicle (UAV) based on MEMS sensor. To reduce the effects of zero bias of inertial sensor on navigation states, a zero bias compensation algorithm is proposed in this paper, estimating and compensating zero bias by standing still for a period of time before the unmanned vehicle moves. In the flight process, a navigation model based on constrained attack angle and sideslip angle is established, and airspeed is used to correct the state errors of INS. The results of vehicle experiments and flight experiments show that the autonomous navigation algorithm proposed in this paper has high precision and can meet the actual task requirements in a limited time.