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Four-rotor aircraft dynamics model/airborne sensor combination navigation method

A quadrotor aircraft and dynamic model technology, applied in the field of integrated navigation, can solve problems such as performance degradation, inertial sensor accuracy, low reliability, and impact on flight safety

Active Publication Date: 2018-09-28
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Limited by cost and volume, the inertial sensors used in quadrotor aircraft have low accuracy and reliability, and are susceptible to performance degradation or even failure due to external temperature and vibration interference.
At this time, the accuracy of the navigation system will decrease, which will affect flight safety.
At present, there is no navigation method for quadrotor aircraft in the case of inertial sensor failure

Method used

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  • Four-rotor aircraft dynamics model/airborne sensor combination navigation method
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  • Four-rotor aircraft dynamics model/airborne sensor combination navigation method

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Embodiment Construction

[0060] The flow process of the inventive method is as figure 1 As shown, the specific steps are as follows:

[0061] Step 1: Periodically read the onboard sensor information of the quadrotor aircraft at time k, including the information of the rotor speed sensor ω 1 (k), ω 2 (k), ω 3 (k), ω 4 (k), which are the rotational speeds of the four rotors; GPS information V NG (k), V EG (k), V DG (k), which are northward velocity, eastward velocity and ground velocity respectively, P NG (k), P EG (k), which are respectively the northward position and the eastward position; h b (k) is barometric altimeter information; ψ m (k) is magnetic sensor information;

[0062] Step 2: Calculate the acceleration and angular acceleration of the quadrotor aircraft at time k;

[0063] The acceleration information is calculated by the following formula:

[0064]

[0065]

[0066]

[0067] Angular acceleration information is calculated by the following formula:

[0068]

[0069...

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Abstract

The invention discloses a four-rotor aircraft dynamics model / airborne sensor combination navigation method, which belongs to the field of combination navigation. The four-rotor aircraft dynamics modelis combined with an airborne sensor, angular velocity, attitude, speed and positional information are estimated, in the invention, the dynamics model comprises a lift model, a resistance model, a torque model, a roll moment model, and a pitching moment model, and the employed airborne sensor comprises a rotor rotating speed sensor, a magnetic sensor, a satellite navigation system, and an air pressure height meter. In the method, a common inertia sensor such as a gyroscope and an accelerometer in the current four-rotor aircrafts are not employed, the acceleration and the angular acceleration information are output by the dynamics model of the four-rotor aircraft, and the inertia sensor can be substituted. The method can be used for solving the navigation problem of the four-rotor aircraftwhen the inertia sensor is failed.

Description

technical field [0001] The invention belongs to the field of combined navigation, and in particular relates to a dynamic model / airborne sensor combined navigation method of a quadrotor aircraft. Background technique [0002] Quadrotor aircraft has the advantages of small size, simple structure, hovering and vertical take-off and landing, and is especially suitable for performing tasks such as surveillance and reconnaissance in near-ground environments (such as indoors, urban areas and jungles, etc.), and has broad military and civilian prospects. . The navigation system provides the navigation information necessary for the flight control system of the quadrotor aircraft, which is the necessary guarantee for it to complete various complex flight tasks. [0003] At present, commonly used sensors for quadrotor aircraft include inertial sensors, GNSS (satellite navigation system), magnetic sensors, and barometric altimeters, among which inertial sensors include gyroscopes and a...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 吕品刘士超赖际舟许晓伟白师宇
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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