Pneumatic model-assisted navigation method for four-rotor-wing air vehicle

A quadrotor aircraft, a technology for assisting navigation, applied in navigation calculation tools and other directions, can solve problems such as autonomous speed measurement and inaccurate positioning

Active Publication Date: 2014-06-04
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
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  • Claims
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide an aerodynamic model-assisted navigation method for a four-rotor aircraft. By using the aerodynamic model parameters as auxiliary parameters and combining with its on-board sensors, the speed under the four-ro

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  • Pneumatic model-assisted navigation method for four-rotor-wing air vehicle

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Embodiment

[0084] In the form of simulation, the positioning accuracy of the quadrotor aircraft after using the method of the present invention is verified. The airborne sensor accuracy is set as follows: gyro bias stability is 10deg / h, deg / h is degree / hour, accelerometer bias stability is 10-4g, attitude accuracy of heading system is 1deg, barometric altimeter error is 1m. The parameter error of the aerodynamic model of the quadrotor aircraft is set to 5%.

[0085] Let the quadrotor hover for 5 minutes. figure 2 It is the positioning error of the four-rotor aircraft after adopting the method of the present invention within 5 minutes in the hovering state, and it can be seen that the positioning accuracy is within 0.1m. Using the existing method (that is, the pure inertial navigation method), its positioning error is above 100m, and the accuracy of this method has been improved by more than 3 orders of magnitude.

[0086] image 3 , Figure 4 They are the eastward and northward spe...

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Abstract

The invention discloses a pneumatic model-assisted navigation method for a four-rotor-wing air vehicle and belongs to the field of combined navigation and autonomous navigation. A pneumatic model of the four-rotor-wing air vehicle is combined with an airborne sensor, so that the speed and the position information of the four-rotor-wing air vehicle can be estimated. According to the pneumatic model-assisted navigation method for the four-rotor-wing air vehicle, parameters of the adopted pneumatic model comprise the radiuses of rotor wings, the air density, the solidness of the rotor wings, the lifting slope, the resistance coefficient and a rotor wing mounting angle; information of the adopted airborne sensor comprises rotating speeds of the rotor wings, the acceleration, the angle speed, the attitude and the height. Any external equipment does not need to be additionally arranged; the speed and position estimation precision of the four-rotor-wing air vehicle during flying without a GNSS (global navigation satellite system) can be improved; the pneumatic model-assisted navigation method has the characteristics of low cost, zero load, high autonomy and the like.

Description

technical field [0001] The invention belongs to the field of combined navigation and autonomous navigation, and in particular relates to an aerodynamic model-assisted navigation method for a quadrotor aircraft. Background technique [0002] Quadrotor aircraft has the advantages of small size, simple structure, hovering and vertical take-off and landing. It is especially suitable for performing surveillance and reconnaissance tasks in near-ground environments (such as indoors, urban areas and jungles, etc.), and has broad military and civilian prospects. . The navigation system provides the navigation information necessary for the flight control system of the quadrotor aircraft, which is the necessary guarantee for it to complete various complex flight tasks. [0003] Limited by the volume, load and cost of quadrotor aircraft, low-cost, miniaturized and low-precision airborne navigation sensors are usually selected. At present, the commonly used navigation solutions for qua...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 吕品赖际舟刘建业宋亦凡张玲贾文峰
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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