Research on scheme and algorithm of high-precision fault-tolerant integrated navigation for HALE UAV

To meet the need of high-precision navigation for HALE (high-altitude long-endurance) UAV (unmanned aerial vehicle), multi-sensor fault-tolerant autonomous navigation system was researched. For the shortcoming that the GPS signal is easily interfered by electromagnetic techniques, combining sundry integrated navigation patterns such as the INS/CNS integrated navigation, the INS/SAR (Synthetic Aperture Radar) integrated navigation, and other autonomous navigation system, the fault-tolerant federated filter scheme is proposed in this paper. This scheme can effectively take advantage of multi-sensor information redundancy. When the GPS system failure occurred, the system can effectively detect and isolate the corresponding failure subsystem, and at this time the INS/CNS integrated navigation system plays a leading role in the navigation system to maintain a certain degree of navigation accuracy. By importing the SAR-aided navigation system in the terminal, the system can achieve high-precision navigation positioning. The integrated navigation system can detecte failure in rapid speed, so it has a high application value in practical engineering. The simulation results by covariance analysis show that the proposed navigation scheme is feasible, and this navigation scheme has important theoretical reference value to improve accuracy and reliability of integrated navigation system for the HALE UAV.