Heterogeneous Positioning Method For UAV Indoor Navigation

The UAV(unmanned aerial vehicle)has achieved a rapid development in recent years.As the application is becoming more complex,the requirements of ability,efficiency and robustness of UAV is higher.One of the key factors that affect the ability of UAV to perform mission is positioning technology.This paper focuses on the heterogeneous positioning method of small UAV in indoor environment.Global positioning system is one of the technology widely used in the UAV navigation system,but it cannot provide stable positioning information in indoor environment.This paper proposed a new heterogeneous positioning technology based on INS(Inertial Navigation system),UWB(Ultra Wide Band)and Visual Laser Lidar.INS has the advantage of short time accuracy,but the error will accumulate over time.And UWB could provide real-time global positioning information in indoor environment.This paper designed an adaptive kalman filtering to fuse the data of INS and UWB to provide more accurate and robust positioning information while the UAV is moving.In order to improve the positioning accuracy in specified area,which could help to perform the task with high demand,a Visual Lidar is designed.The device will only work while the vehicle is hovering in the specified area.To verify the performance of the proposed method,simulation and experiment are performed.The simulation part will focus on the performance of adaptive kalman filtering.The experiment include two parts,one is the data fusion experiment of INS and UWB in motion state,and the other is the experiment to verify the accuracy of visual laser lidar in hovering state.The results of simulation and experiment show that the heterogeneous positioning method based on INS,UWB and Visual Lidar could effectively improve the positioning accuracy of UAV in motion and hovering state.