INS/光流/磁强计/气压计组合导航系统在无人机中的应用

李涛; 梁建琦; 闫浩; 朱志飞; 唐军

doi:doi:10.3788/lop54.022801

激光与光电子学进展, 2017, 54 (2): 022801, 网络出版: 2017-02-10

INS/光流/磁强计/气压计组合导航系统在无人机中的应用下载： 776次

Application of INS/Optical Flow/Magnetometer/Barometer Integrated Navigation System in Unmanned Aerial Vehicle

论文大纲

李涛 ^*梁建琦闫浩朱志飞唐军

作者单位

中北大学仪器与电子学院仪器科学与动态测试教育部重点实验室, 山西太原 030051

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摘要

提出了一种基于扩展卡尔曼滤波的惯性导航系统(INS)/光流/磁强计/气压计组合导航方案。将INS、光流和气压计数据融合, 估计无人机(UAV)的速度和位置。当UAV静止或匀速运动时, 将陀螺仪与加速计、磁强计、光流的数据融合, 估计UAV的姿态。当UAV加速或减速时, 用陀螺仪估计UAV的姿态。实验结果表明, UAV的速度误差从最大20 m/s减小到了10 m/s, 角度误差从最大80°减小到了10°。该方案可以有效解决速度、位置和姿态估计的累积误差问题。

Abstract

One navigation scheme by integrating inertial navigation system (INS)/optical flow/magnetometer/barometer is proposed based on the extended Kalman filtering. Through data fusion of INS, optical flow and barometer, the speed and position of unmanned aerial vehicle (UAV) are estimated. When UAV is at rest or in motion with constant velocity, the UAV attitude is estimated by means of data fusion of gyro, accelerometer, magnetometer, and optical flow. When UAV is accelerated or decelerated, the gyroscope data is used to estimate the UAV attitude. The experimental results show that, the speed error for UAV is reduced from the maximum 20 m/s to 10 m/s, and the angle error is reduced from the maximum 80° to 10°. This scheme can effectively solve the cumulative error problem of velocity, position and attitude estimation.

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李涛, 梁建琦, 闫浩, 朱志飞, 唐军. INS/光流/磁强计/气压计组合导航系统在无人机中的应用[J]. 激光与光电子学进展, 2017, 54(2): 022801. Li Tao, Liang Jianqi, Yan Hao, Zhu Zhifei, Tang Jun. Application of INS/Optical Flow/Magnetometer/Barometer Integrated Navigation System in Unmanned Aerial Vehicle[J]. Laser & Optoelectronics Progress, 2017, 54(2): 022801.

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