Unmanned aerial vehicle self-navigation and positioning method based on multi-model distributed filtration

Abstract

The invention discloses an unmanned aerial vehicle self-navigation and positioning method based on multi-model distributed filtration and aims to reduce the calculation complexity of the unmanned aerial vehicle self-navigation and positioning method, meet a requirement of an embedded processor on real-time processing, guarantee stable control on an unmanned aerial vehicle and also ensure self-navigation and positioning of the unmanned aerial vehicle under a condition that a satellite navigation positioning system is unavailable within short time or long time. By the virtue of the unmanned aerial vehicle self-navigation and positioning method, measured values of motion of the unmanned aerial vehicle are obtained through different measurement systems and different sensors by constructing different orders of system state equations for estimating multi-mode distributed filtration states; a distributed filtration method is adopted to estimate and compensate an error of a low-cost inertial navigation system, so that continuous and reliable navigation and positioning information can be supplied to the unmanned aerial vehicle. The unmanned aerial vehicle self-navigation and positioning method disclosed by the invention can continuously and stably supply precise navigation and positioning information to an unmanned aerial vehicle control system for a long time.

Description

technical field [0001] The invention relates to an autonomous navigation and positioning method for an unmanned aerial vehicle, in particular to an autonomous navigation and positioning method for an unmanned aerial vehicle based on multi-model distributed filtering, which is suitable for autonomous navigation and positioning systems of unmanned aerial vehicles and manned aerial vehicles. Background technique [0002] Compared with manned aircraft, UAVs are low-risk and low-cost, and are widely used in military and civilian fields, such as aerial surveillance, ground reconnaissance, post-disaster reconstruction, remote sensing detection, and ground target tracking. In practical applications, UAVs have higher and higher requirements for the accuracy and reliability of autonomous navigation systems, and it is required to provide real-time and reliable information on the position, speed and attitude of UAVs. Due to the rapid error divergence of low-cost inertial navigation syst...

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Problems solved by technology

[0005] The present invention is different from other UAV navigation and positioning methods in that: in the current published literature, rely on inertial navigation / GPS combined navigation or rely on visual aided inertial navigation to provide the navigation and positioning information of UAV, but these The navigation method still has the limitations of high computational complexity and unusability in some environments in practical applications, especially when the satellite navigation and positioning system signal is unavailable for a long time, the navigation system cannot provide long-term stable attitude information, resulting in unmanned Risk of damage to aircraft and its on-board equipment

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