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Position data fused filtering method for multi-rotor unmanned aerial vehicle (UAV) based on fuzzy determination algorithm

A multi-rotor UAV, fuzzy judgment technology, applied in the direction of radio wave measurement system, satellite radio beacon positioning system, measurement device, etc., can solve multi-rotor UAV crash, satellite system positioning accuracy drop, position jump And other issues

Active Publication Date: 2017-04-26
飞巡(南京)数字智能科技有限公司
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Problems solved by technology

However, the accuracy of all satellite positioning systems depends on the quality of the signal. In areas where the number of satellites is insufficient or where there are shadowing effects (such as next to tall buildings, under bridges, and in mountains), the positioning accuracy of satellite systems often drops sharply or even produces The position jump will eventually give wrong feedback information to the control system, and even cause the crash of the multi-rotor UAV in serious cases

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  • Position data fused filtering method for multi-rotor unmanned aerial vehicle (UAV) based on fuzzy determination algorithm
  • Position data fused filtering method for multi-rotor unmanned aerial vehicle (UAV) based on fuzzy determination algorithm
  • Position data fused filtering method for multi-rotor unmanned aerial vehicle (UAV) based on fuzzy determination algorithm

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[0071] specific implementation plan

[0072] The present invention will be further described in conjunction with embodiment, accompanying drawing:

[0073] Implementation of the present invention can be realized through the following technical solutions:

[0074] 1. Set the state variable at any moment obtained by the integral calculation of the dynamic equation of the multi-rotor aircraft as The state variable measured by the sensor is Now it is necessary to correct the data obtained by simulation calculation through multi-sensor fusion filtering technology.

[0075] 2. Aiming at the problem that the position signal is unreliable when the position sensor has working blind spots or loses accuracy in special environments (such as indoors, jungles, etc.), it is proposed to use data fusion filtering technology to process the position signal, so as to further correct the simulation Calculation results. The overall flow chart of the multi-suspense UAV position data fusion fil...

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Abstract

The invention discloses a position data fused filtering method for a multi-rotor UAV based on a fuzzy determination algorithm. The method comprises the following steps that 1) a correction stage equation is selected and defined for Kalman filtering of multi-sensor fusion; 2) a measurement model is selected; 3) a precision standard including sensors is defined; and 4) a concept of membership grade of the fuzzy algorithm is introduced into position data fusion and filtering of the multi-rotor UAV, and possible data jump when the sensor trust degree is reduced is avoided to certain extent. According to the method, on the basis that the multi-rotor UAV is provided with a global positioning system and position signals are used, the position signals are filtered, and data of the sensors is capable of fault tolerance.

Description

technical field [0001] The invention belongs to the technical field of multi-rotor UAV control and intelligent application, and in particular relates to a multi-rotor UAV position data fusion filtering method based on a fuzzy judgment algorithm. Background technique [0002] With its good hovering performance, simple mechanical structure, easy-to-carry layout and convenient maneuverability, multi-rotor drones have attracted widespread attention from scientific research institutions and enterprises at home and abroad, and have been used in many fields. Wide range of applications. For example, forest fire prevention, terrain survey, agriculture, forestry and plant protection, aerial photography, anti-terrorist investigation, short-distance transportation, emergency rescue, etc. [0003] Multi-rotor drones are usually equipped with global satellite positioning systems, such as GPS, Galieo, Glonass and Beidou system. By communicating with multiple satellites, it can obtain its...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/49G01S19/44G01C21/16
CPCG01C21/165G01S19/44G01S19/49
Inventor 白佶斌
Owner 飞巡(南京)数字智能科技有限公司
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