Research on Relative Position Testing Based on Inertial Navigation and Ultra-Wideband Fusion System

Aiming at the challenge that the direction of cable force is difficult to be measured directly in helicopter flight test with slung-load, the inertial navigation and ultra-wideband integration method is used to measure the relative position of slung-load and body, so the direction can be measured indirectly. This paper studies the technology of improving the positioning accuracy of fusion system from three aspects: time registration, base station layout and anti-interference. The results indicate that the label positioning accuracy is higher when the base station is arranged in a circular pattern; by designing registers and using the least squares method, time alignment of the two data sources in the fusion system can be achieved; inertial navigation data correction of ultra-wideband data can improve its positioning accuracy. Experimental data shows that the accuracy of the fusion system can meet the requirements for testing the relative position of the slung-load.