Research On Navigation System Based Sensor Fusion For Unmanned Scale Helicopter

The super-mini scale helicopter is widely used in both military and civil areas and has been a study object for many institutions and organizations all over the world. The navigation system is one of the most important parts of the scale helicopter, as it is the base of its security and flight controlling.This thesis focuses on the design and implementation of the navigation system of the scale helicopter. A navigation algorithm based on senor fusion is presented, which has a structure of hierarchy fusion, and eniploys the Unscented Kalman Filter and minimum variance fusion to gain an accurate measurement of the helicopter's attitude, velocity and position. The approach is implemented on a prototype system using DSP chip TMS320LF2407A and CPLD chip EPM7128S as its core hardware. And test results indicate the effectiveness of the method.The thesis is arranged as follows:In Chapter 1, the application and recent research progress of super-mini scale helicopter are introduced, and then some basic concepts of its navigation system are presented. In Chapter 2, the common navigation methods of the scale helicopter are reviewed, including inertial navigation, compass navigation and GPS navigation. In Chapter3, after reviewing the sensor fusion algorithms, this thesis presents a hierarchy sensor fusion algorithm based on Unscented Kalman Filter and minimum variance fusion. In Chapter 4, implementation of this navigation system is described, including the sensors, hardware design and software design. In Chapter 5, the navigation system is tested and the result is presented. And finally, Chapter 6 is a conclusion with the summary of the thesis and prospect research.