Research on a filtering method for integrated navigation vibration interference

Low-flying and long-endurance SUAV generally use the piston engine to provide power. The vibration signal in the airframe exhibits a characteristic of multi-vibration-source, wide-band and non-stationary due to lightweight design of SUAV. The vibration will be captured by MIMU, which can significantly affect the accuracy of Kalman filter and even cause the filter fail. Based on the design idea of DOB, this paper proposes a novel filtering method for multi-source vibration interference of integrated navigation system. By designing the disturbance observer, this method successfully estimates and compensates the variable-mean component of the vibration interference of the MEMS device, while the Gauss component can be suppressed by Kalman filter. Experimental results show that the filtering method can accurately estimate and effectively inhibit the multi-source vibration interference caused by the engine. And effectively improves the accuracy and anti-interference capability of the MIMU/GPS system.