Autonomous quadrotor unmanned aerial vehicle positioning and controlling method based on laser radar

Abstract

The invention belongs to the technical field of autonomous flight control research on a quadrotor unmanned aerial vehicle, and discloses an autonomous positioning method based on a two-dimensional laser radar as well as a design method for a quadrotor unmanned aerial vehicle control system based on the positioning method and other onboard MEMS (micro electro mechanical systems) chips. According to the technical scheme adopted by the invention, the autonomous quadrotor unmanned aerial vehicle positioning and controlling method based on the laser radar comprises the following steps: preliminarily positioning the unmanned aerial vehicle in the horizontal direction by utilizing the two-dimensional laser radar, and acquiring a preliminary position value of the unmanned aerial vehicle in the height direction by utilizing an onboard barometer; then acquiring the position information of the unmanned aerial vehicle with high frequency by combining with onboard accelerometer chips by utilizing a complementary filtering algorithm; and finally, applying to unmanned aerial vehicle control systems without GPS signals based on the position information. The autonomous quadrotor unmanned aerial vehicle positioning and controlling method based on the laser radar, which is provided by the invention, is mainly applied to design and manufacturing of autonomous flight control devices of the unmanned aerial vehicle.

Description

technical field [0001] The invention belongs to the technical field of autonomous flight control research of quadrotor UAVs, and specifically relates to autonomous positioning and control methods of quadrotor UAVs; Background technique [0002] Unmanned aircraft, referred to as unmanned aerial vehicle, is an unmanned aircraft that uses radio remote control or its own program control. Compared with manned aircraft, unmanned aircraft has the advantages of small size, low cost, and convenient use; according to Due to the difference in its structural design, UAVs can be divided into two types: fixed-wing and rotary-wing; quadrotor UAV is a kind of rotary-wing UAV, which has the advantages of small size, simple structure, high safety, and good control over the flying space. The advantages of low requirements have broad application prospects in military and civilian fields, including practical applications such as terrain surveying and mapping, power grid maintenance, air transpor...

AI Technical Summary

Problems solved by technology

[0003] The electronic system of the quadrotor drone can be composed of two subsystems, the sensor and the flight control; the sensor system needs to accurately measure or estimate the status of the drone, and it transmits the flight status of the drone to the flight control system, such as position, speed, attitude angle, and angular velocity The control subsystem is used to achieve good flight control; the sensor system can be subdivided into attitude sensors and position sensors; the commonly used attitude sensors are composed of three-axis accelerometers, three-axis gyroscopes, magnetometers and other MEMS components. It can be used both indoors and outdoors; position sensors mostly use GPS, Beidou and other satellite positioning and navigation systems, but it is difficult for this type of sensor to achieve accurate positioning between buildings and indoor environments with weak GPS signals; in order to solve the problem of accurate positioning in the environment without GPS For positioning problems, commonly used methods can be divided into three types: positioning based on motion capture systems such as VICON, positioning based on airborne cameras, and positioning based on airborne lidar; using lidar as an airborne position sensor, compared with other methods, has high positioning accuracy , weaker dependence on the environment, and advantages such as being conducive to outdoor expansion, are hot issues in the field of international control research;

[0004] However, for the environment without GPS signal in our country, the design of a four-rotor UAV autonomous positioning and control system based on lidar is still in the initial stage of research, so design a set of accurate positioning, complete functions, easy expansion, good control performance The human-machine positioning and control system has great theoretical value and significance, and can broaden the application field of quadrotor drones;

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