Research On High Precision Differential Navigation And Its Application In UAV

With the continuous improvement of global satellite positioning system and the continuous development of differential navigation technology,the accuracy and preciseness of real-time dynamic carrier phase differential navigation shows its important value.China's carrier phase differential network started late,the corresponding technology,facilities are very imperfect,its scope of application is also very limited.Therefore,in this paper,the principle of high-precision differential navigation is analyzed,and the principle of real-time dynamic carrier phase differential navigation is analyzed and studied.A high cost and high precision differential navigation system with high cost and convenient operation is established,and the system is applied to The UAV platform,greatly improving the application of high-precision differential navigation.In this paper,the basic principles of GPS satellite navigation and differential navigation are introduced in detail.The Kalman filter algorithm and LAMBDA algorithm in carrier phase difference are studied.The basic control theory of small unmanned aerial vehicle(UAV)is also introduced,and also focuses on the posture Kalman filter algorithm and multi-sensor fusion algorithm,Finally,the simulation is carried out by MATLAB,and the engineering algorithm of the above algorithm is realized through the experimental platform.This paper designs a portable cost-effective base station,after testing the base station differential performance and professional-grade commercial board is similar to the price is one-twentieth,which is the popularity of high-precision differential has a very important significance,the system running concurrent servers based on the Python Twisted network architecture can also concurrentl y serve more than a thousand mobile sites,compared to the Novatel OEM7 series of professional mapping board point-to-point service has a huge advantage,truly a base station service area.Due to its excellent performance,applied for a national invention patent and international PCT.Also designed a small four-rotor UAV's main control board,through the combination with the raspberry-based embedded system,embedded in the raspberry pie development board,greatly improving the flexibility of the system.Thi s platform software part of the use of real-time Linux operating system,you can run the flight control software and differential flow station software,greatly simplifies the differential application system development process,reducing development costs.But also the use of Python and C++ mixed programming software development,the full use of the scripting language and the different characteristics of the compiler language,the system design function of the division,to the system upgrade to bring great convenience.At the end of the article,the entire system was also subjected to detailed functional and performance testing.The experimental results show that the design of high precision differential navigation base station and UAV differential system wi th excellent performance,in the case of dynamic flight,differential locking can even reach the centimeter level differential positioning accuracy,and professional satellite measurement board The poor performance of the card is similar,and it can meet t he requirements of high precision flight operation,and can be applied to all aspects of actual production.