Research On Outdoor Navigation And Positioning Technology Of Quad-rotor UAV

Along with the advancement of science,navigation and positioning technology is more and more towards the direction of more accurate,and is mainly used in navigation and positioning technology is inertial navigation system and GPS navigation system,the position error and velocity error of inertia navigation system and to continuously accumulate over time,the longer you work with the navigation system,positioning accuracy,the worse for a system of this short time of high precision in this paper using the GPS joint manner positioning system and inertial navigation system research,GPS(global positioning system)is a kind of speed and position error does not accumulate over time but short supply system of low accuracy,so will the two are combined to inertial navigation system and the advantages of GPS,is a kind of ideal current research is more commonly used combinations.This article is based on quad-rotor unmanned aerial vehicle(UAV)as the carrier of integrated navigation positioning system research,and in the process of the localization research of integrated navigation system of filtering algorithm design and the choice is very important part of the precision of filtering algorithm directly affects the subsequent positioning accuracy.The main contents of the thesis include the following aspects:(1)This paper introduces the theory of integrated navigation,set up in this paper,the combination of the quad-rotor unmanned aerial vehicle(UAV)navigation state equation and measurement equation,the state equation of concrete will be set up to 15 d,measurement equation is established for 6 d,adopt the SINS/GPS loose combination mode.(2)An improved decibel adaptive filtering algorithm is introduced,and the algorithm is improved based on the four-rotor uav application scenario.Based on the comparison of the algorithm and Kalman filtering and the existing adaptive filtering,the improved algorithm is more accurate than the existing algorithm.(3)To apply the improved algorithm to the quad-rotor unmanned aerial vehicle(UAV)navigation and positioning,designed the trajectory generator at the same time,the theory of the algorithm is simulated data base for the simulation,the applications of simulation scenario,the application of the improved variable decibels bayesian adaptive algorithm for aircraft navigation information of all kinds of error information on the simulation analysis,and improvement was conducted again change db bayesian and classical Kalman filter andthe effectiveness of existing adaptive filter,the results show that the algorithm is applied in aircraft in the estimation precision is higher than Kalman filtering and the existing adaptive filtering.Simulation results demonstrate the effectiveness of the proposed algorithm.