中文摘要：

无人机在飞行过程中如果出现丢星情况，姿态容易发散，直接导致飞行任务失败甚至飞行器坠毁。针对无GPS情况下常规互补滤波导航系统只能应用于静态载体且姿态易发散的局限性，优化并实现了一种基于多重互补滤波器的多传感器组合导航系统。提出一种依据统计学原理输出光流速度可信度的光流测速优化方法，根据光流可信度搭建速度自适应互补滤波系统，估计载体运动加速度，利用补偿运动加速度后的加速度计输出搭建姿态互补滤波器，提高姿态解算精度。上述系统可对任意运动的载体均可得到同步输出高精度速度和姿态信息。利用MATLAB对设计的组合导航系统进行静态、动态实地半实物仿真，仿真结果表明，上述组合导航系统可以输出高精度的速度和姿态信息。

英文摘要：

When an aircraft loses GPS signal during a long flight, its attitude will easily go wrong, which may cause the failure of flight mission or even the crash of the aircraft. Aiming at the limit of low precision with dynamic carrier from gyro! accelerometer complementary filter, a multi - sensor data fusion navigation system based on the multiple complementary filter is proposed and designed. To improve the accuracy of the optical flow, a method based on the principle of statistics to calculate the reliable coefficient of the optical flow velocity is designed, then an adap- tive velocity complementary filter with optical flow, sonar and accelerometer rely on the reliable coefficient calculated is designed to provide the acceleration and the velocity. After compensating the output of accelerometer, an attitude complementary filter is designed using gyro,accelerometer and geomagnetic sensor. Static and dynamic experimental results through MATLAB show that high precision velocity and attitude information are obtained with this navigation method.