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LiDAR navigation method for quadrotor aircraft in continuous polygonal geometric environment

A quadrotor aircraft, laser radar technology, applied in the direction of navigation, navigation, surveying and navigation through speed/acceleration measurement

Active Publication Date: 2021-11-26
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Purpose of the invention: the purpose of the present invention is to provide a four-rotor aircraft laser radar navigation method in a continuous polygonal geometric environment, to solve the problem of stable flight of the quadrotor aircraft in a polygonal geometric environment

Method used

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  • LiDAR navigation method for quadrotor aircraft in continuous polygonal geometric environment
  • LiDAR navigation method for quadrotor aircraft in continuous polygonal geometric environment
  • LiDAR navigation method for quadrotor aircraft in continuous polygonal geometric environment

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Embodiment Construction

[0109] Such as figure 1 Shown, the concrete steps of the present invention are as follows:

[0110] Step (1): Periodically read the sensor information of the quadrotor aircraft at time k, including lidar information S(k), gyroscope information accelerometer information Barometric altimeter information h b (k);

[0111] Step (2): Predict the attitude, speed, and position of the quadrotor aircraft at time k through the inertial sensor, the specific method is as follows:

[0112] (2.1) The attitude quaternion prediction adopts the following formula:

[0113]

[0114] Among them, Q(k)=[q o (k)q 1 (k)q 2 (k)q 3 (k)] T is the attitude quaternion at k moment, the superscript T represents the transposition of the matrix; Q(k-1)=[q o (k-1)q 1 (k-1)q 2 (k-1)q 3 (k-1)] T is the attitude quaternion at k-1 moment; ΔT is the discrete sampling period; Calculated by the following formula:

[0115]

[0116] in Calculated by the following formula:

[0117]

[0118...

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Abstract

The invention discloses a four-rotor aircraft lidar navigation method in a continuous polygonal geometric environment, which belongs to the field of autonomous navigation and guidance. The invention can be used for the navigation of the quadrotor aircraft in the polygonal geometric environment. The laser radar installed on the quadrotor aircraft is fused with the inertial sensor to generate navigation information, so that the multi-rotor aircraft can fly at the center of gravity of the polygonal geometric environment. In the present invention, the lidar is used to identify the polygonal geometric environment, thereby estimating the relative distance and orientation between the quadrotor aircraft and each side of the environment. The estimated information of the lidar is fused with the inertial sensor through a filter to obtain the position, velocity, and attitude information of the quadrotor aircraft. Then, based on the data measured by the lidar, the geometric center of gravity of the environment is calculated, so that the quadrotor aircraft flies at the geometric center of gravity. The invention enables the quadrotor aircraft to fly safely and stably in a polygonal geometric environment.

Description

technical field [0001] The invention relates to the field of autonomous navigation and technology, in particular to a four-rotor aircraft lidar navigation method in a continuous polygonal geometric environment. Background technique [0002] With the development of related technologies of quadrotor aircraft, it is applied to more and more flight missions, which puts forward higher and higher requirements for navigation performance. Lidar is one of the commonly used navigation equipment for quadrotor aircraft. It is not interfered by radio signals and light, and has strong autonomy and high navigation accuracy. When lidar is used for navigation, Simultaneous Localization And Mapping (SLAM for short) is commonly used, and various sensor data are collected and calculated on the carrier to realize its own position, attitude positioning and Construction of the scene map. [0003] A polygonal geometric environment refers to an environment with regular polygons around it, such as ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20G01S17/933G05D1/10
CPCG01C21/165G01C21/20G01S17/933G05D1/101
Inventor 邹冰倩吕品赖际舟石鹏付相可
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS