Ultra-small dual-duct unmanned plane combined navigation system and dual-mode navigation method

Abstract

The invention relates to an ultra-small dual-duct unmanned plane combined navigation system and a dual-mode navigation method. Position, speed and posture information with high precision, high continuity and high reliability is provided for an ultra-small dual-duct unmanned plane, so that the ultra-small dual-duct unmanned plane can acquire information for motion; furthermore, a Bluetooth interface is connected with user mobile Bluetooth equipment to acquire a target location of a user; after the user mobile Bluetooth equipment communicates with a system of the unmanned plane, map information of a start point and a final point is transmitted to a control system of the unmanned plane in real time to finish automatic cruising of a robot. According to a navigation method with dual-mode switching, an error-based adaptive kalman filtering algorithm is used for performing data fusion on all terms of data of an inertia navigation subsystem and a GPS navigation subsystem to obtain optimal navigation information. By control on adaptive factors, continuous operation of the system can be also guaranteed during outdoor and indoor switching of the unmanned plane, so that influence on an output of the navigation system due to failure of single GPS equipment is avoided.

Description

technical field [0001] The present invention relates to a combined navigation system and a dual-mode navigation method of an ultra-small double-duct unmanned aerial vehicle, which is a comprehensive design of a navigation system solution for an ultra-small double-duct unmanned aerial vehicle flying at low altitude, and belongs to special robot navigation control technology field. Background technique [0002] Ultra-small unmanned flying robot, also known as unmanned aerial vehicle or unmanned aerial vehicle, refers to a powered aerial vehicle that does not carry operators. In recent years, UAV has become a research hotspot at home and abroad. Among them, Subminiature UAV (SUAV) refers to a drone whose aircraft size ranges from tens of centimeters to 200 centimeters. This type of aircraft has the advantages of low cost, small size, portability, low take-off requirements, and With the advantages of wide access area and certain wind resistance and load capacity, it has been w...

AI Technical Summary

Problems solved by technology

However, since the inertial navigation system has no input of external information, it cannot be corrected in time due to the accumulation of sensor errors, which will cause a significant drop in navigation accuracy after a long time

At this time, the GPS satellite navigation system is introduced, and the user can determine its own position by measuring its position relative to the satellite, and can correct the error of the inertial navigation system, but the satellite positioning navigation system depends on the satellite visibility and the signal caused by the operating environment of the carrier. Integrity, GPS observation noise defined only by pre-experimental experience cannot adapt to the working characteristics of GPS

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