基于气动模型辅助的四旋翼飞行器室内自主导航方法  

Autonomous navigation method aided by aerodynamics model for an indoor quadrotor

作　　者：吕品[1] 赖际舟[1] 杨天雨[1] 刘建业[1] 朱斌 宋亦凡 

机构地区：[1]南京航空航天大学导航研究中心,南京210016 [2]中航工业第一飞机设计研究院,西安710000

出　　处：《航空学报》2015年第4期1275-1284,共10页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(61174197);航空科学基金(2012ZC52045);江苏省普通高校研究生科研创新计划(CXLX11_0201);南航博士学位论文创新与创优基金(BCXJ11-04)~~

摘　　要：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/magnetometer/barometer integrated navigation system is commonly used in navigation schemes of aquadrotor.However,since satellite navigation is unavailable during indoor flight,this navigation scheme cannot satisfy the velocity measurement and positioning accuracy requirements of the quadrotor,so that it will restrict the indoor autonomous flight ability.In order to solve the problem,based on the aerodynamics characteristics of the quadrotor,an inertial/magnetometer/barometer/aerodynamics model integrated navigation scheme is proposed in this paper.The characteristics of a quadrotor＇s aerodynamics model are analyzed and the basic principle of the aerodynamics aided navigation scheme is discussed.The algorithm of the proposed navigation scheme is proposed and the implementation procedure is designed.Finally,a simulation platform is established based on the aerodynamics model of the OS4 quadrotor.Both the hovering flight and the maneuvering flight of a quadrotor are simulated.The simulation results show that the proposed scheme can significantly improve the position/velocity accuracy.The proposed navigation scheme has the advantages of strong autonomy,low cost and zero loads,which does not need extra sensors.It has good application value for the indoor navigation of the quadrotor.

关 键 词：四旋翼飞行器 气动模型 辅助导航 室内导航 定位算法 

分 类 号：V241.6[航空宇航科学与技术—飞行器设计]