Optical-sighting correction of inertial systems of remotely piloted aircraft


Аuthors

Starostin N. P.1*, Chernodarov A. V.2**

1. Company "Ramenskoye Design Company", 2, Guriev str., Ramenskoye, Moscow Region, 140103, Russia
2. Leading Researcher of “NaukaSoft” Experimental Laboratory, 9, Godovikova str., building 1, Moscow, 129085, Russia

*e-mail: stark201288@gmail.com
**e-mail: chernod@mail.ru

Abstract

The problem of optical-sighting correction of strapdown inertial navigation systems (SINS) of remotely piloted aircraft (RPA) in the absence or deterioration of satellite information due to natural and intentional interference is considered. The possibility of using optical-electronic means included in the remote control systems of RPA for this purpose is being estimated. Such control is implemented by a human operator via a video transmission channel of an image of the earth's surface without the use of radar facilities. Algorithms for the formation of optical-inertial observations during periodic sighting of ground landmarks with known and unknown coordinates are presented. Such observations are formed as the difference between the azimuth and elevation angle of the landmark measured by a video camera and calculated by the SINS in the coordinate system associated with the RPA. With optimal processing of optical-inertial observations, it is possible to estimate both positional and angular errors of the SINS. The generalization of the SINS video correction technology is associated with the optimal processing of optical-inertial observations when sighting landmarks with unknown coordinates. In this paper, such observations are formed on the basis of solving the inverse problem of trajectory measurements. When solving such a problem, the coordinates of a ground landmark are determined using trajectory measurements from a RPA. The coordinates of the RPA and the sighting angles of the reference landmark are measured at two points along the flight path. The coordinates of the RPA are determined using the SINS, and the sighting angles of the landmark are determined using the onboard optical-electronic system (OES). The problem of optical-inertial positioning of a landmark is solved using the triangulation method. The errors of the inertial positioning of the RPA and the ground reference landmark are estimated using angular optical-sighting measurements. The paper also considers the features of the use of OES when placing a video camera in a gimbal. Mathematical modeling was performed using signals recorded in flight from the global navigation satellite system (GNSS) and from SINS sensors: fiber-optic gyros and accelerometers. A helicopter was used as a prototype of the RPA in the flight experiment, and the inertial-satellite navigation system SINS-500NS developed by “NaukaSoft” Research & Production Association, Ltd., (Moscow) was considered as the object of studies. The technology for using flight data in modeling an optical-inertial positioning system includes the following procedures:
• reckoning of flight and navigation parameters based on recorded signals from SINS sensors;
• formation of coordinates of ground landmarks by adding increments to GNSS data;
• using GNSS data as a reference for estimating SINS errors when processing observations by the extended Kalman filter (EKF).
The results of mathematical modeling showed a fairly high potential accuracy of optical-inertial positioning with the EKF in the errors estimation loop of the SINS. The conducted studies confirmed the possibility of optical-inertial positioning of RPA based on SINS of average accuracy with errors along the flight route at the level of 200 meters, taking into account correction intervals of about 5 minutes and writing off estimates of drift of SINS sensors.

Keywords:

remotely piloted aircraft, inertial navigation system, global navigation satellite system, optical-electronic system, extended Kalman filter

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