| Summary: | Solar-powered unmanned aerial vehicles usually fly at high altitudes, and they are mainly powered by the photocells covering the body of unmanned aerial vehicles. Considering that the solar vector cannot be affected by the disturbing magnetic field and harmful acceleration, a unit solar vector solving method based on photovoltaic array is proposed in this paper. The photocells with different installation angles are selected to form the photovoltaic array. The solar vector is solved by the least-squares method on the basis of normalization by using the output currents of the photovoltaic array. For eliminating the influence of faults and reflected light on the solving of the solar vector, an adaptive least-squares unit solar vector solving method is proposed. In addition, a solar vector measuring device is designed in order to verify the effectiveness of the proposed methods. By employing the structural advantages of the device, the current generated by the reflected light of the sky can be solved according to the currents generated by all photocells of this device. Thus, the solved current generated by the reflected light of the sky is more accurate. Moreover, strapdown inertial navigation system/solar vector/global positioning system integrated navigation Kalman filtering algorithm is proposed, in which the adaptive least-squares unit solar vector solving method is applied to the measurement update of the filter. The effectiveness of the methods proposed in this paper is illustrated by some numerical and physical simulations.
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