The Research And Implementation Of Attitude And Positioning Navigation Of UAV

With the rapid development in recent years,the Unmanned Aerial Vehicle(UAV)has achieved breakthrough results in various fields.The UAV flight system mainly includes perception and navigation,control and decision-making,and trajectory planning.In order to adapt to a more complex environment,more in-depth research on the UAV autonomous flight system needs to be conducted.The main content of this paper is the preprocessing process of sensor information,the design and implementation of attitude navigation system on the Lie Group and positioning navigation system,and the problems involved in multi-sensor fusion algorithm.The innovation points of this paper are as follows:(1)In this paper,a system based on low-cost sensors is designed,which includes STM32F7,IMU,the magnetometer,the GNSS chip and the barometer.First,the preprocessing process of the sensor is necessary,and the corrected data is used as the input information of the navigation system.(2)In this paper,the Extended Kalman Filter(EKF)framework of the motion system is derived on the Lie Group structure,and the compensated Equivalent-Rotation-Vector is used as the input of the prediction process through the mapping of the Lie algebra and the Lie group,and the noise model of the process is derived.The Euler angle measured by the accelerometer and the magnetometer is mapped onto the Lie Group,thereby the observation model is constructed.(3)In this paper,a 10-dimensional state motion model is obtained by modeling the position and speed information of the UAV.Decompose the observation model by Sequential-Filtering to reduce the complexity introduced by the matrix calculation process,and the processor resources are more fully utilized.The Chi-square Detection is used to detect the observation information,and the error information is eliminated.The system is simulated and experimented,and compares with the high-precision Real-time kinematic system(RTK)to analyze the system performance indicators.In the experiment,the UAV complete a series of flight tasks and the algorithm of this paper is compared with a higher-precision system,the output status is analyzed and then advantages and disadvantages of the algorithm are discussed.The small unmanned helicopter navigation and positioning system designed in this paper has been applied in practical subject projects.Its measurement accuracy meets the needs of the project and has the ability to autonomously perform relevant flight tasks.