基于UWB的無人機自主導(dǎo)航系統(tǒng)設(shè)計
2023年電子技術(shù)應(yīng)用第5期
田祥瑞1,,羅欣1,,賈茚鈞1,尹婕1,,陳健軍2
(1.南京航空航天大學 自動化學院,江蘇 南京 210016,;2.中國電子科學研究院,,北京 100041)
摘要: 針對衛(wèi)星拒止環(huán)境下的無人機導(dǎo)航,提出一種基于超寬帶(Ultra Wide-Band,,UWB)技術(shù)的局部定位系統(tǒng),,實現(xiàn)無人機定位與導(dǎo)航。首先利用UWB技術(shù)實現(xiàn)測距,,進而解算無人機在局部坐標系下的三維坐標,,然后基于擴展卡爾曼濾波(EKF)融合多傳感器數(shù)據(jù)以提高無人機的定位精度。基于開源飛控Pixhawk搭建了無人機飛行驗證平臺,,將UWB定位系統(tǒng)數(shù)據(jù)與飛控傳感器數(shù)據(jù)融合,,對無人機在局部坐標系下的自主飛行進行了仿真。最后通過實驗驗證了基于UWB的多傳感器數(shù)據(jù)融合導(dǎo)航在無人機自主導(dǎo)航控制上的可行性,,實現(xiàn)了無人機在地面平臺上的自主起降,、對地目標伴飛等飛行導(dǎo)航任務(wù)。
中圖分類號:TN964.1
文獻標志碼:A
DOI: 10.16157/j.issn.0258-7998.223240
中文引用格式: 田祥瑞,,羅欣,,賈茚鈞,等. 基于UWB的無人機自主導(dǎo)航系統(tǒng)設(shè)計[J]. 電子技術(shù)應(yīng)用,,2023,,49(5):129-134.
英文引用格式: Tian Xiangrui,Luo Xin,,Jia Yinjun,,et al. Autonomous navigation system design for UAV based on UWB[J]. Application of Electronic Technique,2023,,49(5):129-134.
文獻標志碼:A
DOI: 10.16157/j.issn.0258-7998.223240
中文引用格式: 田祥瑞,,羅欣,,賈茚鈞,等. 基于UWB的無人機自主導(dǎo)航系統(tǒng)設(shè)計[J]. 電子技術(shù)應(yīng)用,,2023,,49(5):129-134.
英文引用格式: Tian Xiangrui,Luo Xin,,Jia Yinjun,,et al. Autonomous navigation system design for UAV based on UWB[J]. Application of Electronic Technique,2023,,49(5):129-134.
Autonomous navigation system design for UAV based on UWB
Tian Xiangrui1,,Luo Xin1,Jia Yinjun1,,Yin Jie1,,Chen Jianjun2
(1.School of Automation, Nanjing University of Aeronautics and Astronautics,, Nanjing 210016,, China; 2.China Academy of Electronic Sciences,, Beijing 100041,, China)
Abstract: A local positioning system based on ultra-wide band (UWB) technology is proposed to realize unmanned aerial vehicle (UAV) navigation in the environment of satellite denial. Firstly, the UWB technology is used to realize the ranging, and then the three-dimensional coordinates of the UAV in the local coordinate system are solved. Then the multi-sensor data are fused based on extended Kalman filter (EKF) to improve the positioning accuracy of the UAV. Based on the open source flight control Pixhawk, the UAV flight verification platform is built, and the UWB positioning system data is fused with the flight control sensor data to simulate the autonomous flight of UAV in the local coordinate system. Finally, through experiments, the feasibility of multi-sensor data fusion navigation based on UWB in the autonomous navigation control of UAV is verified, and the flight navigation tasks of UAV such as autonomous take-off and landing on the ground platform and flying with ground targets are realized.
Key words : UAV;ultra-wide band,;EKF,;navigation and positioning,;flight control
0 引言
隨著無人機技術(shù)的不斷發(fā)展,,無人機可實現(xiàn)的應(yīng)用功能愈發(fā)強勁與廣泛,眾多行業(yè)開始涉足無人機領(lǐng)域,,無人機的飛行任務(wù)呈現(xiàn)出多樣化,、復(fù)雜化的趨勢。作為無人機執(zhí)行各項任務(wù)的基礎(chǔ),,無人機導(dǎo)航定位系統(tǒng)的精確性與魯棒性是任務(wù)完成質(zhì)量的重要保障,。目前無人機導(dǎo)航多采用基于衛(wèi)星定位的全球定位系統(tǒng),然而在城市高樓遮擋、室內(nèi)環(huán)境,、戰(zhàn)時環(huán)境時變性和動態(tài)性的影響下,,衛(wèi)星信號并不能實時滿足導(dǎo)航需求,此時無人機只能依靠機載傳感器或協(xié)同設(shè)備進行場景感知,,并基于得到的數(shù)據(jù)進行導(dǎo)航定位,。
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作者信息:
田祥瑞1,羅欣1,,賈茚鈞1,,尹婕1,陳健軍2
(1.南京航空航天大學 自動化學院,,江蘇 南京 210016,;2.中國電子科學研究院,北京 100041)
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