The Design And Realization Of Navigation And Localization System Of UAV

The rapid development of micro-electromechanical systems(MEMS)and embedded systems has led to the development of spurts in the research and application of unmanned aerial vehicles(UAVs).Small unmanned helicopters have the advantage of taking off and landing relative to fixed-wing drones.The ability to hover,excellent maneuverability,long battery life and large load capacity can meet lots of flight operations,and therefore it has broad application prospects in military,civil and scientific research.Traditional small unmanned helicopters usually fly in line of sight by human operation,and only have the satellite navigation systems to get the localization.With the development of industrial applications,unmanned helicopters need to cover tasks with higher difficulty in more complex and varied enviroment,which resulting in the increasing demands for autonomous localization and autonomous navigation for small unmanned helicopters.Therefore,it is necessary to carry out in-depth research on the navigation and localization system of small unmanned helicopters,improve the accuracy and robustness of the localization results through Combined Navigation,and carry out related trajectory planning algorithms on the basis of localization to realize the autonomous navigation function.In this paper,a high-integration small unmanned helicopter navigation and localization system is designed and implemented,and the low-cost multi-sensor integrated navigation and positioning algorithm is studied.Based on the Combined Navigation,the optimal trajectory planning algorithm for small unmanned helicopters is studied.This enables small unmanned helicopters to have the ability to perform the required tasks.The main research contents of this paper are as follows:(1)According to the needs of the project,the low-cost small unmanned helicopter navigation and localization system based on MCU,MEMS,electronic compass,barometer,laser radar and GPS is designed and implemented on this platform.(2)In this paper,the multi-source information fusion integrated navigation algorithm is designed based on the self-designed navigation and positioning system platform.The twenty-two extended Kalman filter is used to select the various sensor data for fusion,which improves the accuracy and robustness of navigation and localization..In the process of data fusion,the sequential fusion method is used to avoid the large-scale matrix inversion operation to reduce the calculation amount,and at the same time,the error caused by the sensor delay effect is compensated.Finally,the correlation experiment with high-precision sensor are used to perform navigation and positioning results.Contrast and analyze the performance indicators of the navigation and positioning system.(3)In this paper,we build models for small UAV trajectory planning problems,respectively study time optimal,distance optimal and Minimum Snap optimal trajectory planning algorithm,perform the simulation and experiment of Dubins curve algorithm and flight corridor minimum snap trajectory based on polynomial.The small unmanned helicopter navigation and positioning system designed in this paper has been applied in practical projects.Its measurement accuracy is in line with the project requirements,and it has the ability to perform related missions autonomously.