Aircraft positioning method based on positioning and sensing device

A technology of positioning sensing and positioning method, which is applied in the field of aircraft positioning and can solve problems such as large size and inapplicability

Active Publication Date: 2016-10-12
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The use of this sensor is also not suitable for installation in micro-aircraft platforms due to its large size

Method used

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  • Aircraft positioning method based on positioning and sensing device
  • Aircraft positioning method based on positioning and sensing device
  • Aircraft positioning method based on positioning and sensing device

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Experimental program
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Embodiment Construction

[0105] like figure 1 Shown is the positioning sensing device of the aircraft, which is composed of a microprocessor (NUC) 1 , an inertial sensing unit (IMU) 2 , an ultrasonic sensor 3 and a camera 4 .

[0106] The microprocessor adopts the NUC (NUC5i7RYH) series of Intel Corporation, and the whole weight is only 0.607Kg. This series of processors has the characteristics of small size, multiple interfaces, fast processing speed, powerful functions, low power consumption, and fast heat dissipation. The image information collected by the high frame rate is huge, which has high requirements on the real-time ability of data processing; and all data processing requirements are carried out under the linux (ubuntu) system; the whole set of devices is required to be installed on the micro air vehicle, so Based on the above requirements, it is very suitable to choose NUC5i7RYH because of its large-capacity data processing capability, thin and light appearance, and cross-platform feature...

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Abstract

The invention relates to an aircraft positioning method based on a positioning and sensing device. The method comprises the following steps: acquiring aircraft attitude information by virtue of an inertial sensor unit, collecting relative altitude information by utilizing an ultrasonic sensor, and acquiring real-time ground image information by utilizing a camera; acquiring relative displacement information of the aircraft by utilizing an improved optical flow method, and acquiring global position and attitude information of the aircraft by utilizing grid information; and realizing an accurate and robust aircraft positioning method by virtue of multi-sensor information fusion and acquisition by utilizing a filtering algorithm. Long-term accurate positioning of the aircraft can be realized in case of absence of GPS signals and any other external aided navigation, the robustness is high, and an accumulative error is avoided.

Description

technical field [0001] The invention relates to the field of aircraft positioning, in particular to an aircraft positioning method based on a positioning sensing device. Background technique [0002] Due to the lack of external auxiliary navigation, it is difficult for UAVs to estimate the pose and motion of UAVs in an unknown environment. This key problem needs to be solved in the process of autonomous navigation of UAVs. The solution to this problem is closely related to the types of sensors onboard the aircraft, so the hardware architecture of the UAV has a direct impact on the selection of related algorithms. At present, according to different aircraft hardware constructions, different solutions have been proposed for the above problems. [0003] For ground mobile robots, the estimated value of attitude information is usually obtained by solving with an inertial measurement unit IMU (InertialMeasurement Unit). The acquisition of location information depends on a naviga...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 许超叶波
Owner ZHEJIANG UNIV
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