Navigation system of HALE UAV (high altitude long endurance unmanned aerial vehicle) suitable for china

In the full paper, we explain the navigation system of HALE UAV in some detail; in this abstract, we just add some pertinent remarks to listing the three topics of explanation. The first topic is: the scheme of HALE UAV navigation system. In this topic, we design an integrated navigation system that combines SINS (strapdown inertial navigation system), GPS (global positioning system), BDSNS (Beidou satellite navigation system) and ADS (air data system), as shown in Fig.1. The scheme uses the adaptive federated filter algorithm as its information fusion algorithm. The second topic is: the model of the integrated navigation system. In this topic, we give Eqs.(1) and (2) as the state equations respectively for the errors of SINS and ADS. We also derive the measurement equations for the SINS/GPS integration, SINS/BDSNS integration and SINS/ADS integration respectively, shown in Eqs.(3) through (5). The third topic is: adaptive federated filter algorithm. In this topic, we present the algorithm as given in Eqs.(6) through (10) and obtain the traces of covariance matrices of all local filters and master filter to determine their information-sharing coefficients. Finally, we simulate our integrated navigation system using the relevant parameters of U.S. "RQ-4A Global Hawk" HALE UAV. The simulation results, shown in Figs.3 through 5 in the full paper, indicate preliminarily that the integrated navigation system can complete navigation tasks accurately and reliably independent of the closure or restricted use of GPS.