基于光流和惯性导航的小型无人机定位方法  

Small UAV localization method based on optical-flow and inertial navigation

作　　者：宋宇[1] 翁新武[1] 郭昕刚[1] 

机构地区：[1]长春工业大学计算机科学与工程学院,吉林长春130012

出　　处：《传感器与微系统》2015年第1期13-16,共4页Transducer and Microsystem Technologies

基　　金：教育部"春晖计划"资助项目(Z2011139)

摘　　要：为了提高小型无人机定位精度,提出了一种基于光流系统和惯性导航系统相结合的定位方法。在介绍光流传感器工作原理,建立光流数学模型和分析光流测量误差之后,提出了采用双光流传感器测量飞行器的高度和速度,并将二维光流信息与捷联惯性导航系统(SINS)通过扩展卡尔曼滤波器(EKF)进行数据融合,得到实时的位置、速度和姿态。室内实验结果表明:该方案能够有效地减小导航中的位置、速度和姿态误差,提高定位精度。To improve localization precision of small UAV, a localization method based on a kind of optical-flow system and its integration to an inertial navigation system is presented. After introduction of working mechanism of optical-flow sensor, establishment of mathematical models of optical-flow and analysis on measurement error of optical-flow, a dual optical-flow sensor is adopted to measure height a^d velocity of UAV, and real-time position, velocity and attitude can be obtained by using an extended Kalman filter （ EKF ） to fuse the two-dimensional optical-flow information with strap-down inertial navigation system （ SINS ）. The experimental results in indoor environment indicates that the proposed method can effectively improve localization precision and reduce error of navigation parameters such as position, velocity and attitude.

关 键 词：小型无人机 组合导航 定位 光流 惯性导航 扩展卡尔曼滤波器 

分 类 号：V249[航空宇航科学与技术—飞行器设计]