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惯性/卫星/磁传感器/气压高度计组合导航系统是四旋翼飞行器常用的导航方案。但在室内飞行时,由于卫星导航系统不可用,该导航方案的测速及定位精度难以满足四旋翼飞行器的自主飞行需求,从而制约了其室内自主飞行能力。为解决该问题,在利用四旋翼飞行器气动模型的基础上,提出了惯性/磁传感器/声纳传感器/气动模型组合导航方案。通过分析四旋翼飞行器的气动模型特性,揭示了气动模型辅助自主导航的内在机理;提出了气动模型辅助导航算法,并设计了具体的实施流程。最后,结合OS4型四旋翼飞行器的气动模型特点,搭建了气动模型辅助导航方案的验证平台,对四旋翼飞行器的室内悬停与机动飞行进行了仿真模拟。仿真结果表明,气动模型辅助导航方案可以显著提高室内飞行时的测速与定位精度。该方案无需增加其他传感器,具有自主性强、成本低和零载重的优点,在四旋翼飞行器室内导航中具有较好的应用价值。
Inertial / satellite / magnetic sensor / barometric altimeter integrated navigation system is a common quadrotor navigation solution. However, due to the unavailable satellite navigation system in the indoor flight, the speed and positioning precision of the navigation scheme can not meet the autonomous flight requirements of the quadrotor, which limits its autonomous indoor flight capability. In order to solve this problem, inertial / magnetic sensor / sonar sensor / aerodynamic model combined navigation scheme is proposed based on the aerodynamic model of quadrotor. By analyzing the aerodynamic characteristics of the quadcopter, the inherent mechanism of aerodynamic model-assisted autonomous navigation is revealed. Aero-model-aided navigation algorithm is proposed and a specific implementation process is designed. Finally, based on the aerodynamic model features of the OS4 four-rotor aircraft, a verification platform of the aerodynamic model-assisted navigation scheme is set up to simulate the indoor hover and maneuver flight of the quadrotor. The simulation results show that the aerodynamic model-assisted navigation scheme can significantly improve the speed and positioning accuracy of indoor flight. The scheme has the advantages of high independence, low cost and zero load without adding other sensors and has good application value in the indoor navigation of quadrotor.