Research On The 3D Positioning Technology Of Micro Multi Rotor Aircraft With Close Distance Indoor

With the rapid development of Unmanned Aerial Vehicle technology,the accuracy of positioning technology needed to be higher.Due to the wide range of use and can be achieved global coverage,the GPS is the most widely used one by now.Although the GPS has many advantages,the signal is weak in the indoor environment because of the absorption of the buildings.So another plan is needed to realize the indoor close range 3D localization.Considering the superior performance of the MEMS sensor,we can make an indoor short-range positioning scheme of micro inertial sensors based on MEMS.This scheme selects the ARDUINO development kit equipped with a ATMEGA2560 processing chip and the GY-86 module which is integrated three axis accelerometer,three axis gyroscope and three axis magnetic field.With ultrasonic range instrument and data transmission module,a set of hardware system is designed which can track the motion of the aircraft in a 3D environment.According to the principle of Newton's second law in classical mechanics,the acceleration and attitude angle of the aircraft is measured by the sensor,and the measurement error is reduced by using the Kalman filter.Then the displacement and the direction of the aircraft are obtained by the double integral and the strapdown algorithm.As for hardware implementation aspects,the acceleration and angular acceleration data measured from the micro inertial sensors are written into the Micro SD card.The data will be transferred to the host computer and the object motion data is processed in the PC by MATLAB environment.Finally,the trajectory of the movement is reconstructed by the software program.At the end of this paper,a part of design procedure is given and the system is tested and analyzed.The experimental results verify the correctness and feasibility of the main module function.The improvement measures and the prospect of the work are put forward in the last of the article.