An Efficient Developed Method About Indoor Automomous Flight Based On Information Fusion

In recent years,a variety of unmanned aerial vehicles(UAV)are emerging and a variety of advanced autonomous flight control methods are widely used.The traditional mathematical simulation and hardware in loop simulation evaluation method are difficult to meet the algorithm validation requirements with the increasingly complex system.With the continuous improvement of aerodynamic and control performance simulation techniques,it is possible to study the equivalent simulation of flight control at different scales or speeds.In this paper,a low-speed,small-scale unmanned aerial system is used to construct an autonomous flight rapid verification environment,which will lay the foundation for equivalent flight of high-speed,large-scale or complex flight mission,and establish a basic environmental condition for exploring new methods of control system test verification and evaluation.The overall design scheme of control algorithm modeling,sensor data multi-sourceization,equivalence shrinkage scale aircraft and hardware software resource encapsulation is proposed in this paper,which designs and implements an indoor experiment environment for the fast and effective verification of control algorithm.The hardware and software resources of UWB,IMU,Mavlink protocols and remote command transmission are studied in this paper,and several simulink package model libraries are built,which makes it quick to invoke the hardware and software resources in order to build the flight control model for the verification.In this paper,the verification is carried out from the mathematical simulation,to the hardware in loop simulation and then to autonomous flight test with the rotor aircraft.The entire system function is verified with a complete development process and the process of rapid development of control algorithm is described.With the support of the rapid development model library,the interface consistency of the different verification methods is realized,which can achieve the effect of seamless connection and mutual switching.A set of experimental measurement environment,airborne test environment,the simulation platform for the integration of multi-source information platform is formed.