Research On GPS/Image Integrated-Navigation Technique Of MAV Based On Multi-DSP

Potential application of Micro Air Vehicle(MAV) makes it a new international research hotspot nowadays. Flight control and navigation system are necessary and important devices of MAV.In the present time, there are four kinds of navigation systems on MAV. GPS navigation techology is most widely used. Because of many advantages, image navigation has become a key technology of MAV research. MAV has the characteristic of small size, low weight, small consumption of energy, so the request for load is very strict. Thus, the integrated navigation system is explored, using the GPS/Image instead of the GPS/INS.Based on the origin and request of the project, a parallel ground navigation system based on one FPGA and four DSP is designed to accomplish the monocular image navigation. First, the hardware has been discussed in detail, in which the FPGA makes the integration better and supplies the possibility of the real-time navigation to MAV. Then, a laboratorial online simulation is based on navigation processing board, CCD vidicon, LCD monitor. Through a series of experiments, an useful integrated strategy is developed. Also by the GPS/Image integrated navigation algorithm, the conclusion can be drawn that in some sense, the system can accomplish the real-time task of the MAV integrated-navigation. Meanwhile, with the improvement proposed in this paper, the ground navigation system can correct navigation of MAV once a second.