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

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...

AI Technical Summary

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-rotor aircraft system is calculated, and further calculation The speed under the navigation system improves the calculation accuracy and solves the problem of autonomous speed measurement and inaccurate positioning of the quadrotor aircraft when the satellite navigation system is unavailable

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