Realization For Indoor Close-Range Precise Positioning On Micro Air Vehicle

This task comes from the laboratory team based project, the project is mainly to achieve microair vehicle in the indoor environment of autonomous flight.This paper’s main design idea is to use the2D laser range finder to assist the implementation ofIMU system for positioning, IMU positioning system will increase the accumulated error with time,so the need for external sensors, laser range finder to each time interval to correct its eliminate thecumulative error; consider working frequency is slower than the2D laser range finder in this selected,and the selected micro frequency inertial navigation component of IMU10times, is designed in thesoftware implementation, presented a scheme of the system.In view of the core processor is used as the ARM processor single-core, how to solve theproblem of processing two sensor data, this paper adopts the design mode of the whole softwareinterrupt request; for small aircraft flight real-time data, according to the output frequency of twosensors, debugging through the corresponding subroutine time-consuming time, design a feasibleexperimental scheme of experiment And through the experiments further verify the feasibility of thescheme.In this paper, the whole scheme of laser/IMU integrated positioning system, design hardwareand software platform of experiment system, experiment environment, experiment design, experimentdata, finally through the comparative analysis of the experimental data of experiment data and thesimulation to verify the accuracy and error of the system scheme, error and the experiment producedby analysis of experimental results, for the realization of the self-made MAV indoor autonomousflight project provides valuable experimental data.