中文摘要：

针对无人机飞行安全以及任务完成的需要,为了提高无人机飞行导航精度,提出了导航精度评价航线质量。由于在执行任务过程中无人机可能面临的不确定因素,分别建立了无人机机载惯性导航系统误差模型、光学侦察载荷校正模型以及防空威胁模型,分析了导航精度对长航时无人机航迹规划的影响,并对在导航精度约束下的无人机航迹进行了仿真。仿真结果表明,光学侦察载荷校正点的设置方法,对于保证无人机侦察任务更好的完成具有较强的应用价值,为无人机航迹规划提供了科学依据。

英文摘要：

Aiming at the flight safety and completion of mission, the navigation accuracy is introduced to evaluate route quality. For the uncertainty existing in the task of URAV, an error model of inertial navigation system for unmanned reconnaissance aerial vehicle, and optical reconnaissance load calibration model and air defense threat model are established based on the factors affecting the route of URAV. The influence of navigation accuracy for route planning of URAV is analyzed and the simulation results of URAV route based on the navigation accuracy constraint are given. Finally, the calibration point setting method of optical reconnaissance load is preliminary discussed. The proposed method is suitable and practical for reconnaissance missions.