Synthesis of algorithms for complex filtering of measurements for satellite navigation systems of unmanned aerial vehicles

Abstract

The widespread use of unmanned aerial vehicles (UAVs) of various classes in both the military and civilian spheres requires the development and production of high-precision on-board navigation systems of low cost, weight and dimensions. An important characteristic that determines the ability and quality of the UAV's flight task performance is the accuracy of its positioning. The basis of management of existing UAVs is the use of satellite navigation systems (SNS). In SNS of UAVs, increasing the accuracy of positioning is achieved by using various algorithms for processing received navigation data. A generalized analysis of the most common approaches to solving the problem of filtering navigation measurements showed that the task of synthesizing effective filtering algorithms remains relevant. A possible way to increase the accuracy of determining the navigation parameters is the joint processing of the results of measurements of the distance to the satellite and the radial velocity. The work describes the methodology of synthesis of complex filtering algorithms for range measurements in UAV satellite navigation systems. The methodology is based on a polynomial model of the filtering algorithm and input data. The described approach is based on the presentation of smoothing filters as dynamic systems described by discrete transfer functions. The theoretical basis for determining the transfer functions is the third form of the invariance conditions of the filter error with respect to the input influence model. The proposed approach allows: synthesizing effective complex filtering algorithms that have minimal computational complexity for their implementation; at the stage of synthesis, forming the properties of filters in relation to noise smoothing and exclusion of dynamic errors; in the synthesis process, determining the conditions under which the digital filter will be stable. The workability and efficiency of the synthesized algorithm was investigated by means of computer simulation. It is shown that the application of the synthesized filter allows reducing the dynamic range estimation error in the conditions of changing the mathematical model of the input data without deteriorating the quality of filtering of measurement errors.

Keywords

• polynomial
• evaluation algorithm
• filtration
• unmanned aerial vehicle