The invention discloses an unmanned aerial vehicle air refueling inertia-assisted Beidou three-frequency precision relative navigation method which comprises a refueling machine and an oil receiver. Inertial navigation on the refueling machine is tightly combined with original data of a Beidou satellite navigation system to obtain real-time position and attitude information of the refueling machine, and the real-time position and attitude information is transmitted to the oil receiver through a data link; the refueling machine is selected as a mobile reference station, the oil receiver is selected as a moving station, and a combined double-difference carrier phase and pseudorange observation equation is established; and a pseudo-range observed quantity is replaced by an inertial navigation prediction satellite-ground distance, an improved TCAR method is adopted, a short baseline multipath error model is established, a Kalman Filter model with expanded multipath parameters and an LAMBDA method are adopted to solve and fix original carrier ambiguity, and BDS/INS tight combination is carried out on the oil receiver to obtain two-carrier precision relative navigation parameters. The beneficial effects of the invention are that the method is high in navigation precision, is high in instantaneity, and is high in reliability.

    本发明公开了一种无人机空中加油惯性辅助北斗三频精密相对导航方法,包括加油机和受油机,加油机上的惯导与北斗卫星导航系统原始数据紧组合以获得加油机的实时位置及姿态信息,并通过数据链传输给受油机;选取加油机为移动基准站,受油机为流动站,建立组合双差载波相位及伪距观测方程;以惯导预测卫地距代替伪距观测量,采用改进的TCAR方法,建立短基线多路径误差模型,采用増广多路径参数的Kalman Filter模型及LAMBDA方法求解及固定原始载波模糊度,并在受油机上进行BDS/INS紧组合以获得两载体精密相对导航参数。本发明的有益效果是,导航精度高,实时性强,可靠性高。


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    Title :

    Unmanned aerial vehicle air refueling inertia-assisted Beidou three-frequency precision relative navigation method


    Additional title:

    一种无人机空中加油惯性辅助北斗三频精密相对导航方法


    Contributors:
    WU LING (author) / SUN YONGRONG (author) / ZHAO WEI (author)

    Publication date :

    2021-04-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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