| In recent years,indoor autonomous flight laboratory has become a hot topic at home and abroad due to its own advantages.Researchers can easily debug the control algorithm and carry out experimental verification.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 indoor autonomous flight platform of NUDT arises at the historic moment,which forms an integrated platform for multi-source information collection and processing,which integrates the environment of the laboratory,the airborne test environment and the simulation platform.Under the platform,the MEMS gyro and accelerometer and UWB positioning equipment data are collected and analyzed,and multi-sensor information fusion is carried out to achieve indoor low-cost,high-precision positioning and attitude determination.First of all,starting from the autonomous flight platform interior,developed principle demonstration board is equipped with DSP,MEMS accelerometer gyroscope and UWB tag,related program code generation algorithm can be downloaded into the board,and can be held indoors experimental principle demonstration board.Secondly,for small scale and low cost MEMS IMU random error caused the position and attitude of indoor equivalent flying low solution accuracy and solve the problem,the use of complementary accelerometer and gyroscope information fusion filtering algorithm,eliminate the gyro bias,and the attitude of verification.Thirdly,through the Allan analysis of variance identification of random error parameters of MEMS gyroscope,accelerometer and gyroscope is established UWB positioning error model of inertial sensors and UWB positioning system,data processing and fusion using Kalman filtering method,puts forward the system state equation of small low dynamic range,and designed two sets of synchronization method the system time.Finally,the indoor experiments are carried out.The results show that the combination of strapdown inertial navigation and UWB positioning methods can combine the advantages of the two methods to improve the positioning accuracy of the carrier indoor.This paper is based on the platform of indoor autonomous flight,indoor navigation attitude for the purpose of analyzing the error model of inertial device MEMS and UWB positioning device and fusion algorithm can locate low-cost inertial sensors with relatively high accuracy in indoor stance. |
