基于AHRS的GNSS间断拒止下低成本无人机导航方法

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中图分类号：V249.3 文献标志码：A DOI：10.12305/j.issn.1001-506X.2025.07.25

Abstract： To improve the navigation performance of low-cost small unmanned aerial vehicle （UAV） when the global navigation satelite system （GNSS） signal is disturbed，a navigation method based on atitude and heading reference system （AHRS） is proposed. A dead reckoning model is constructed by using the errorboundedatitude information output of the AHRS，which can effectively delay the divergence of navigation errors during GNSS signal's denial. When the GNSS signal is effctive，the navigation accuracy is further improved by correcting the atitude angle. The simulation results show that in the combination phase，the proposed method can further improve the atitude angle accuracy，and the navigation accuracy matches the traditional inertial navigation system. In the denial phase，the positional acuracy of the proposed method in horizontal and elevation is improved by 83.3% and 45.9% respectively compared to the inertial navigation system. Finally，the reliability of the simulation results is verified by semi-physical experiments.

Keywords：atitude and heading reference system （AHRS）；integrated navigation； denial environment; small unmanned aerial vehicle （UAV）

0 引言

小型无人机具有体积小、成本低、部署方便等特点，不仅被广泛应用于航拍、救灾等民用领域，在军用市场中也揭开了以智能化侦察、攻击武器为主要应用的新篇章，俨然成为近年来的研究热点。（剩余15304字）