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Autonomous navigation and positioning method of small unmanned aerial vehicle

A small unmanned aerial vehicle, autonomous navigation technology, applied in the field of unmanned aerial vehicle, can solve the problems of linearization truncation error, particle degradation, accumulation of position error, etc.

Active Publication Date: 2018-06-22
TIANJIN JINHANG COMP TECH RES INST
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  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The technical problem to be solved by the present invention is: how to combine the adaptive filtering method and the RTS smoothing process with the particle filter to reduce the degree of particle degradation, and at the same time combine this improved particle filter with the SLAM method to solve the problem of autonomous navigation of UAVs. Problems such as position error accumulation, linearization truncation error and particle degradation in the process

Method used

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  • Autonomous navigation and positioning method of small unmanned aerial vehicle
  • Autonomous navigation and positioning method of small unmanned aerial vehicle
  • Autonomous navigation and positioning method of small unmanned aerial vehicle

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Embodiment 1

[0133] This embodiment provides a UAV synchronous positioning and composition method based on improved suggestion distribution particle filter, such as Figure 1-Figure 3 As shown, the method includes the following steps:

[0134] Step S1: modeling the UAV SLAM system;

[0135] 1.1 Map model

[0136] Currently popular map models mainly include grid maps, topological maps, and feature maps. The design method of the present invention is mainly aimed at the structured indoor environment, and the most significant feature in the indoor environment is the line feature intersecting between walls, so the present invention adopts the feature map model;

[0137] 1.2 Coordinate system

[0138] Since the perception behavior between the sensor carried by the UAV and the environmental features occurs in the sensor coordinate system, the speed measurement occurs in the UAV motion coordinate system, and the construction of the final environmental map needs to be expressed in the global map...

Embodiment 2

[0221] This embodiment provides a UAV synchronous positioning and composition method based on improved suggested distribution particle filter, including the following steps:

[0222] (1) Map model establishment;

[0223] (2) Coordinate system establishment;

[0224] (3) Feature model establishment;

[0225] (4) Establishment of UAV motion model;

[0226] (5) Sensor measurement model;

[0227] (6) Extracting the features in the image acquired by the environment perception sensor;

[0228] (7) Complete the data association process between the new observation features and the existing features in the map;

[0229] (8) Complete the integration map of new features. Or use the observed features to correct the position of the UAV and the existing feature positions in the map.

[0230] Among them, the UAV SLAM system model and observation model constructed are nonlinear. The invention uses particles to store the flight state of the UAV and the observed environmental feature sta...

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Abstract

The invention belongs to the technical field of an unmanned aerial vehicle and particularly relates to an autonomous navigation and positioning method of a small unmanned aerial vehicle. Synchronous positioning of the unmanned aerial vehicle and design of a map establishing method frame are realized by improving proposal distributed particle filtering. The problems of unmatched models and particledegradation caused by linearization of an unmanned aerial vehicle motion model and an observation model are researched. Proposal distribution is generated by utilizing self-adaptive EKF and RTS, thenewest observation quantity is blended, a synchronous positioning and picture composition method of the unmanned aerial vehicle is designed, a particle set close to real distribution is generated, andthe state of the particles is updated through resampling, so that the influence of model linearization is avoided fundamentally and the estimation precision is improved; meanwhile, the covariance ofthe system state matrix does not need to be calculated, so the calculation quantity is reduced and the aims of improving the navigation positioning as well as map building precision and efficiency during long navigation of the unmanned aerial vehicle are finally achieved.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a method for autonomous navigation and positioning of small unmanned aerial vehicles. Background technique [0002] The cost of human resources in modern society is getting higher and higher, especially for tasks with harsh environments or time-consuming tasks, such as dangerous fire rescue scenes in buildings, or boring and time-consuming wall painting in buildings, etc., it is very important to use machines to replace labor. A good choice, so various small UAVs came into being, and since autonomous navigation and positioning technology is a prerequisite for small UAVs to complete any task, navigation and positioning technology has become a bottleneck technology that limits the development of small UAVs. [0003] Most of the traditional small UAVs adopt the combined navigation method of dead reckoning and GPS to achieve navigation and positioning. As...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 王晶所玉君崔建飞刘振业
Owner TIANJIN JINHANG COMP TECH RES INST
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