惯性/光流/磁组合导航技术在四旋翼飞行器中的应用  

Application of inertial / optical-flow/magnetic integrated navigation technique in quadrotor helicopter

作　　者：杨天雨[1] 贾文峰[1] 赖际舟[1] 邓一民[1] 

机构地区：[1]南京航空航天大学导航研究中心,江苏南京210016

出　　处：《传感器与微系统》2016年第1期156-160,共5页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(61174197);江苏省高校"青蓝工程"项目

摘　　要：微小型无人飞行器(MUAV)通常采用微惯性/GPS组合导航系统提供载体速度、位置、姿态等参数。然而GPS信号易受干扰,且面对特殊环境(如高楼林立的街道、隧道、峡谷等)易出现信号丢失情况难以满足飞行器的自主安全飞行要求。为解决该问题,设计基于光流法辅助微惯性导航的无GPS自主导航方案,提出了一种基于无味卡尔曼滤波(UKF)的非线性融合导航方法,基于四旋翼飞行器的悬停和飞行实验进行了验证。实验结果表明:该方案具有成本低、导航自主性强、精度高的优点,具有一定的应用参考价值。MEMS-inertial/GPS integrated navigation system is usually used in MUAV to provide parameters of its velocity,position, attitude. However, GPS is susceptible to interference in complex environment, such as high-rise street, tunnels, canyon, etc ,which will not satisfy the safety needs of autonomous flight. To solve this problem, a MEMS-inertial/0ptical-flow autonomous navigation scheme without GPS and analyzed based on a non-linear fused navigation method based on unscented Kalman filtering （UKF）fusion technology is proposed, hovering and waypoint flight experiments of quadrotor helicopter are conducted to verify the system performance. Experimental results show that the inertial/optical-flow/magnetometer integrated system has advantages such as low-cost, strong autonomy of navigation and high precision,which implies practical application value of MUAV.

关 键 词：惯性/光流/磁组合 多传感器 信息融合 无味卡尔曼滤波 

分 类 号：V249[航空宇航科学与技术—飞行器设计]