Design And Implementation Of UAV Positioning System Based On Network RTK

With the rapid development of UAV technology,UAV has been widely used in military,civil and other fields.The demand of RTK Technology in UAV is also increasing.However,the application of conventional RTK Technology in UAV positioning has some problems,such as complicated operation,inconvenient carrying,small operation range and poor positioning accuracy and reliability.To solve the above problems,this paper designs a UAV positioning system based on Network RTK.(1)This paper analyzes the functional and non functional requirements of UAV high-precision positioning system,and puts forward the overall design scheme of system integration and miniaturization.According to the overall design scheme of the system,the hardware platform scheme selection based on ARM processor and the software platform scheme selection based on Linux operating system are completed.(2)For the hardware platform of the system,the circuit schematic design and PCB design are completed on the basis of considering noise interference,crosstalk and other factors.According to the system software platform,complete the transplantation of Linux operating system,including cross compiling environment construction,u-boot transplantation,Linux kernel cutting and transplantation,root file system construction and Linux device driver design.The software and hardware integration design of embedded ARM + Linux system is realized.(3)Based on the software and hardware platform,the software of UAV positioning system is designed.Based on the serial communication mode,the real-time acquisition of mobile station GNSS board data is realized,and the real-time decoding of mobile station GNSS data is realized according to NMEA-0183 message format;based on the ntrip communication mode,the real-time acquisition of network reference station differential data is realized,and the real-time decoding of network reference station differential data is realized according to RTCM message format;based on the GNSS board,the RTK differential data solution is realized;the most effective way is to realize the real-time acquisition of network reference station differential data After that,the RTK differential positioning data is sent to UAV through CAN bus communication mode to realize high-precision positioning of UAV.Finally,the network RTK UAV positioning system designed in this paper is tested from three aspects of system hardware circuit,system function and system non function,and the test results are analyzed.The test results show that the system meets the design requirements and achieves the expected effect.