基于多点约束的微小型无人机自主定位技术  

Autonomous Positioning Technology of Micro-UAV Based on Multi-point Constraint

作　　者：徐喜梅 何成龙 黄大庆[3] 徐诚[3] XU Xi-mei;HE Cheng-long;HUANG Da-qing;XU Cheng(State Key Laboratory of Satellite Navigation System and Equipment Technology,Shijiazhuang 050000,China;College of Electronic and Information Engineering,Nanjing University of Aeronautics & Astronautics,Nanjing 210016,China;Key Laboratoryof Unmanned Aerial Vehicle Technology,Ministry of Industry and Information Technology,Nanjing University of Aeronautics & Astronautics,Nanjing 210016,China)

机构地区：[1]卫星导航系统与装备技术国家重点实验室,石家庄050000 [2]南京航空航天大学电子信息工程学院,南京210016 [3]南京航空航天大学中小型无人机先进技术工信部重点实验室,南京210016

出　　处：《电光与控制》2019年第5期49-54,共6页Electronics Optics & Control

基　　金：卫星导航系统与装备技术国家重点开放基金(EX166840 046);国家自然科学基金(61601222);中央高校基本科研业务费专项资金(56XAA16095);江苏省自然科学基金(BK20160789);南京航空航天大学创新基地(试验室)开放式基金(kfjj20170406)

摘　　要：在复杂环境下,卫星导航信号容易受到干扰,导致无人机卫星定位失效。提出了一种基于多点约束的微小型无人机自主定位技术,通过机载光电测量平台对多个地面目标点进行观测,根据地面目标点、像点和摄像机光心三点共线的几何关系建立无人机自主定位数学模型,并结合最小二乘估计求解无人机自身空间位置。通过实验验证该方法的可行性与鲁棒性,实验结果表明该方法能够在误差允许的范围内获取无人机位置信息,可一定程度上丰富无人机自主定位理论。The satellite navigation signals are susceptible to interferences under a complex environment,which may result in the failure of UAV satellite positioning.An autonomous positioning technology for micro-UAVs based on multi-point constraint is proposed.Through the on-board photoelectric measurement platform,multiple ground targets are observed.By using the geometric relationship that the ground target point,image point and the camera optical center are collinear,the autonomous positioning mathematical model of the UAV is established.The UAV’s own spatial position is obtained by using the least square estimation.The feasibility and robustness of the method are verified by experiments.The experimental results show that the method can obtain the position information of the UAV within the allowable error range.

关 键 词：微小型无人机 自主定位 最小二乘估计 坐标转换 

分 类 号：V249[航空宇航科学与技术—飞行器设计]