基于Mission Planner的无人机自主导航测量系统设计与实现  

Design and Implementation of Unmanned Aerial Vehicle Autonomous Navigation Measurement System Based on Mission Planner

作　　者：马晨皓 杨国东[1] 邸健 张旭晴[1] MA Chen-hao;YANG Guo-dong;DI Jian;ZHANG Xu-qing(College of GeoExploration Science and Technology,Jilin University,Changchun 130026,China;Jilin Hydropower Planning&Design Institute,Changchun 130026,China)

机构地区：[1]吉林大学地球探测科学与技术学院,长春130026 [2]吉林省水利水电勘测设计研究院,长春130026

出　　处：《科学技术与工程》2022年第27期11792-11800,共9页Science Technology and Engineering

基　　金：国家自然科学基金(40971187)。

摘　　要：针对目前测量工具价格较为昂贵、测量手段多采用人工采集的方式,设计一款基于Mission Planner开源地面站和全球导航卫星系统(global navigation satellite system, GNSS)相结合的无人机自主导航测量系统。该系统由四旋翼无人机、APM(advanced power management)控制器、Mission Planner地面站和PPK(post processed kinematic)后差分系统构成,共设计手动和自动导航两种控制方式。自动导航模式中可通过Mission Planner地面测控系统的地图模块、数据交互模块,实现无人机按照设计预设航线进行飞行,并获取目标点的空间三维坐标。通过GNSS-BDS/GPS系统定位试验和自动导航对比试验得出,此套自动测量系统静态达到厘米级的定位精度,自动导航模式下的定位精度达到分米级。最终将其应用到点位坐标测量中,该系统所测得数据误差控制在10 cm内,满足测量工作中的基本需求。研究结果可对今后开展全自主测量技术设备的研发提供理论基础和实践参考。In view of the high price of current measurement tools and the method of manual acquisition, an unmanned aerial vehicle autonomous navigation measurement system based on the combination of Mission Planner open source ground station and global navigation satellite system(GNSS) was designed. The system consists of a quadrotor unmanned aerial vehicle(UAV), an advanced power management(APM) controller, a Mission Planner ground station and a post processed kinematic(PPK) differential system. Two control modes of manual and automatic navigation were designed. In the automatic navigation mode, the map module and data interaction module of the Mission Planner ground measurement and control system could be used to realize the flight of the UAV in accordance with the designed preset route and obtain the three-dimensional coordinates of the target points. Through the positioning test of GNSS-BDS/GPS system and the comparison test of automatic navigation, it is concluded that the positioning accuracy of this automatic measurement system could reach centimeter level in static state, and the positioning accuracy could reach decimeter level in automatic navigation mode. Finally, it is applied to the point position coordinate measurement, and the error of the measured data was controlled within 10 cm, which meets the basic requirements of the measurement work. The result can provide theoretical basis and practical reference for the research and development of fully autonomous measurement technology equipment in the future.

关 键 词：Mission Planner 自主导航 测量系统 PPK 无人机 

分 类 号：P237[天文地球—摄影测量与遥感]