Configuration method for information fusion of a plurality of optical flow sensors and inertial navigation device

An optical flow sensor and multi-sensor technology, which can be used in instruments, navigation, measurement devices, etc., to solve problems such as reducing endurance and carrying capacity, and increasing the weight and volume of UAVs.

Active Publication Date: 2012-06-20
BEIHANG UNIV
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Problems solved by technology

The smallest synthetic aperture radar used on unmanned aerial vehicles (Unmanned Aerial Vehicle, UAV) may be the miniSAR manufactured by Sandia National Labs in the United States, and its mass is about 4 to 5 kilograms. Such heavy equipment increases Reduce the weight and volume of the UAV, reducing its endurance and carrying capacity

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  • Configuration method for information fusion of a plurality of optical flow sensors and inertial navigation device
  • Configuration method for information fusion of a plurality of optical flow sensors and inertial navigation device
  • Configuration method for information fusion of a plurality of optical flow sensors and inertial navigation device

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[0053] according to figure 1 The graph showing the optical flow sensor measurement and figure 2 The schematic diagram of the combination of the optical flow sensor and the inertial navigation device is shown, and we propose a layout scheme and fusion algorithm of the optical flow sensor on the aircraft in the vertical plane. The optical flow sensor can measure the optical flow information of the front, bottom and rear of the aircraft, which provides a basis for comprehensively estimating the surrounding environment of the aircraft.

[0054] In order to reduce the complexity of the problem and simplify the mathematical model of the system, only the movement in the vertical plane of the aircraft is studied, and the following assumptions are made:

[0055] 1) The texture texture of the surrounding environment of the aircraft is messy, and the optical flow is measurable;

[0056] 2) Each optical flow sensor can work normally, and their output contains measurement noise, but the...

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Abstract

A configuration method for the information fusion of a plurality of optical flow sensors and an inertial navigation device is disclosed, which comprises the following five steps of: 1, establishing a linear disturbance kinematical equation aiming at an aircraft needing to be installed with optical flow sensors; 2, arranging the optical flow sensors on the aircraft in all directions and at a plurality of points; 3, establishing the measurement equation of the optical flow sensors according to the installation position and direction of each optical flow sensor on the aircraft; 4, estimating the flight state of the aircraft by utilizing EKF, that is, extended Kalman filter method and UKF, that is, unscented Kalman filter method respectively; and 5, realizing the specific flight mission of the aircraft by the estimated state information. In the configuration method for the information fusion of a plurality of optical flow sensors and an inertial navigation device, a plurality of optical flow sensors and an inertial navigation device are used; and the optical flow sensors and the inertial navigation device are light in weight, small in volume, low in power consumption, convenient to install and arrange on the aircraft, and unable to radiate electromagnetic signal outwards, thereby enhancing the concealment of the aircraft. The configuration method for the information fusion of a plurality of optical flow sensors and an inertial navigation device has practical value and wide application prospect in the technical fields of measurement and estimation for the attitude, flight speed and height of aircraft.

Description

(1) Technical field: [0001] The invention relates to an optical flow multi-sensor and inertial navigation device information fusion configuration method, which belongs to the technical field of measurement and estimation of aircraft attitude, flight speed and altitude. (two) background technology: [0002] Aircraft mainly rely on forward-looking radar, radar altimeter and vertical speedometer to measure the height above the ground and vertical speed. For small aircraft, laser rangefinders (Laser Rangefinders, LRF) and radar are too bulky. SICKLMS291 is a typical laser range finder, which is generally used in the field of robotics, and its mass is about 4.5 kg. The smallest synthetic aperture radar used on unmanned aerial vehicles (Unmanned Aerial Vehicle, UAV) may be the miniSAR manufactured by Sandia National Labs in the United States, and its mass is about 4 to 5 kilograms. Such heavy equipment increases The weight and volume of the UAV are reduced, and its endurance and ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C23/00
Inventor 刘小明陈万春邢晓岚
Owner BEIHANG UNIV
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