基于多传感器融合的无人机精准自主飞行控制方法  

Precision Autonomous Flight Control Method of UAV Based on Multi-sensor Integration

作　　者：王大帅[1] LIU Xiaoguang 李伟[1] 张俊雄[1] 袁挺[1] 张春龙[1] WANG Dashuai;LIU Xiaoguang;LI Wei;ZHANG Junxiong;YUAN Ting;ZHANG Chunlong(College of Engineering,China Agricultural University,Beijing 100083,China;College of Engineering,University of California at Davis,Davis CA 95616,USA)

机构地区：[1]中国农业大学工学院,北京100083 [2]加利福尼亚大学戴维斯分校工程学院,戴维斯CA 95616

出　　处：《农业机械学报》2019年第12期98-106,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2016YFD0200700);国家留学基金管理委员会国家建设高水平大学公派研究生项目

摘　　要：为解决我国植保无人机实际作业过程中普遍存在的由空间位置定位精度不足和飞行参数不稳定造成的雾滴分布不均匀、重喷、漏喷等问题,以多旋翼无人机系统为平台,基于ROS(Robot operating system)和MAVROS构建了由协同计算机与开源飞行控制器组成的二级控制系统,结合基于RTK-GPS的绝对位置测量和基于激光雷达的相对距离探测方法,融合外部传感器与飞行控制器板载传感器数据对无人机状态估计进行修正,提高了无人机飞行参数和飞行轨迹的稳定性。为进一步提高植保无人机自主作业性能,基于ROS设计了飞行任务管理系统,实现了无人机精准自主任务点之间的直线飞行。真实飞行试验结果表明:无人机自主飞行过程中水平方向平均定位误差为0.145 m,垂直方向平均定位误差为0.053 m。In the wake of development of China s agricultural aviation technology,the application of micro-plant protection unmanned aerial vehicles(UAVs)in the domain of crop pest and diseases management is becoming more and more extensive.There is no doubt that the UAVs have some significant advantages comparing with the traditional spraying methods because of its features of flexibility,environmental adaptability and high operational efficiency,particularly when working under complex scenarios that are inaccessible for conventional plant protection equipment.However,in practical applications,there are still some notable issues such as unsatisfactory application quality,low automation,and high safety risks which are limiting UAV s working performance.Precision spraying technology and UAV autonomous control technology are the key factors in terms of ensuring the spraying quality,improving working efficiency and safeguarding flight safety.For the sake of endowing the UAV with some extent of autonomous flight capability,a multi-layer control system was introduced,which consisted of a companion computer and an open-source flight controller that can communicate with each other via ROS and MAVROS.Meanwhile,an integrated method of external sensors(RTK-GPS and LiDAR sensor)and flight controller onboard sensors was proposed.This method can significantly improve the spatial position and control accuracy of the plant protection UAV.In order to further enhance the UAV s autonomous flight ability,the task control system was designed and proposed,which enabled UAV autonomously flight between multiple task points with the horizontal and vertical location error of 0.145 m and 0.053 m,respectively.The research result effectively improved the plant protection UAV s position accuracy and self-operating performance,and provided some reference for the future development of precision spraying technology.

关 键 词：无人机 自主飞行 信息融合 ROS 

分 类 号：S252[农业科学—农业机械化工程]