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A precise navigation method for high altitude unmanned aerial vehicle was researched. Strapdown inertial navigation system (SINS), star sensor and Bei Dou receiver were adopted in this method. Errors of SINS and misalignments of star sensor were chosen as system states of integrated navigation. A specified attitude matrix was constructed by outputs of SINS, then measurements of integrated navigation were constructed by the attitude matrix output of star sensor, position outputs of Bei Dou receiver and outputs of SINS. Thus the measurement equation of integrated navigation was constructed cleverly, and the Kalman filtering algorithm of integrated navigation was designed. Simulation results showed that, this precise navigation method had high locating accuracy and attitude determining accuracy, which had good application prospect of engineering.