基于北斗/惯导与多传感融合的无人机参数矫正方法研究

姜华; 杜博军; 董兴法; 王军; 何昕

doi:10.3788/YJYXS20173208.0656

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基于北斗/惯导与多传感融合的无人机参数矫正方法研究

图像处理 | 更新时间：2020-08-12

- 基于北斗/惯导与多传感融合的无人机参数矫正方法研究
- Parameter correction of unmanned aerial vehicle based on beidou/inertial navigation and multi-sensor fusion
- 液晶与显示 2017年32卷第8期页码：656-661
- 作者机构：
  
  1.苏州科技大学电子与信息工程学院, 江苏苏州 215000
  2.中国科学院长春光学精密机械与物理研究所, 吉林长春 130000
- 作者简介：
  
  [ "姜华(1993-), 男, 江苏泰州人, 硕士研究生, 主要从事智能信息处理方面的研究。E-mail:jianghua8119@163.com" ]
  [ "王军, 男, 江苏苏州人, 副教授, 主要从事测控技术与仪器方面研究.E-mail:jianghua8119@163.com" ]
- 基金信息：
  
  江苏省建设系统科技项目(2016ZD87);苏州市科技发展计划（重点实验室）项目(SZS201609);苏州科技大学校研究生创新项目(SKCX16_044);江苏省研究生工作站项目;Science and Technology Project of Jiangsu Province Construction System(2016ZD87);Suzhou Science and Technology Development Plan (Key Laboratory)(SZS201609);Suzhou University of Science and Technology graduate student innovation project(SKCX16_044);Jiangsu Postgraduate Workstation Project
- DOI：10.3788/YJYXS20173208.0656
  中图分类号： V249.32
- 收稿日期：2017-02-17，
  
  录用日期：2017-6-1，
  
  纸质出版日期：2017-08-05
- 稿件说明：
移动端阅览
姜华, 杜博军, 董兴法, 等. 基于北斗/惯导与多传感融合的无人机参数矫正方法研究[J]. 液晶与显示, 2017,32(8):656-661.

Hua JIANG, Bo-jun DU, Xing-fa DONG, et al. Parameter correction of unmanned aerial vehicle based on beidou/inertial navigation and multi-sensor fusion[J]. Chinese journal of liquid crystals and displays, 2017, 32(8): 656-661.
姜华, 杜博军, 董兴法, 等. 基于北斗/惯导与多传感融合的无人机参数矫正方法研究[J]. 液晶与显示, 2017,32(8):656-661. DOI： 10.3788/YJYXS20173208.0656.

Hua JIANG, Bo-jun DU, Xing-fa DONG, et al. Parameter correction of unmanned aerial vehicle based on beidou/inertial navigation and multi-sensor fusion[J]. Chinese journal of liquid crystals and displays, 2017, 32(8): 656-661. DOI： 10.3788/YJYXS20173208.0656.

摘要

针对无人机飞行过程中姿态、定位以及高度参数不精确的问题，提出基于北斗/惯导与多传感器融合的无人机参数矫正方法，介绍了在北斗/惯导组合系统中融合气压传感器与速度传感器的采集参数，结合卡尔曼滤波器算法推算最优定位值。由速度传感器提供具体参数给惯导系统，并利用加速度与航偏角之间的关系预测无人机轨迹，结合北斗系统当前定位参数推算出最优值，将运算得到的无人机参数通过无线通讯的方式发送到终端进行存储显示。结果表明：采用多传感融合方式矫正的方法有效提高飞行轨迹与姿态的监测精度，定位精度达到3 m，为操控无人机提供了有力的理论依据。

Abstract

Aiming at the problem of attitude

orientation and inaccuracy of UAV in the process of UAV flight

a method of parameter correction for UAV based on Beidou/Inertial navigation and multi-sensor is proposed. The parameters of pressure sensor and speed sensor are introduced in the Beidou/inertial navigation system

and combined with Kalman filter algorithm to calculate the optimal positioning value. The specific parameters are given to the inertial navigation system by the speed sensor

and the UAV trajectory is predicted by the relationship between the acceleration and declination. The optimal value is calculated by combining the current positioning parameters of the Beidou system

and the calculated UAV parameters are transmitted through wireless communication to the terminal for storage and display. The results show that the method of multi-sensor fusion is effective to improve the accuracy of flight trajectory and attitude

and the positioning accuracy is 3 m

which provides a powerful theoretical basis for handling UAV.

关键词

Keywords

references

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