Rotorcraft Seamless Navigation Method Based on Hybrid Multi-Model Filter and Aerodynamics Model

Min Liu, Jizhou Lai, Jianye Liu, Pin lyu, Hongtao Liu

Abstract:	Aiming at the navigation problem of the rotorcraft in absence of GPS, an autonomous navigation method based on the aerodynamic model and interacting multi-model filter is proposed. The aerodynamic model of the rotorcraft is established which can provide the velocity information to improve the navigation performance during GPS outage, and the interacting multi-model filter is used to improve the output accuracy of the aerodynamic model affected by the wind. Then, a federal kalman filter is adopted to combine the information of all sensors including the aerodynamic model. The simulation results show that the method can ensure the velocity and positioning accuracy of the rotorcraft, which has an application value in the navigation of the rotorcraft.
Published in:	Proceedings of IEEE/ION PLANS 2016 April 11 - 14, 2016 Hyatt Regency Hotel Savannah, GA
Pages:	764 - 771
Cite this article:	Liu, Min, Lai, Jizhou, Liu, Jianye, lyu, Pin, Liu, Hongtao, "Rotorcraft Seamless Navigation Method Based on Hybrid Multi-Model Filter and Aerodynamics Model," Proceedings of IEEE/ION PLANS 2016, Savannah, GA, April 2016, pp. 764-771. https://doi.org/10.1109/PLANS.2016.7479771
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