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Unmanned aerial vehicle attitude measurement method based on strapdown inertial navigation and Beidou satellite navigation system

A Beidou satellite and navigation system technology, applied in the field of unmanned aerial vehicles, can solve the problem of increased attitude information error

Pending Publication Date: 2021-04-09
NAT UNIV OF DEFENSE TECH
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  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the error of the measured attitude information of the existing UAV attitude measurement increases with time, and propose a UAV based on strapdown inertial navigation and Beidou satellite navigation system attitude measurement method

Method used

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  • Unmanned aerial vehicle attitude measurement method based on strapdown inertial navigation and Beidou satellite navigation system
  • Unmanned aerial vehicle attitude measurement method based on strapdown inertial navigation and Beidou satellite navigation system
  • Unmanned aerial vehicle attitude measurement method based on strapdown inertial navigation and Beidou satellite navigation system

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Embodiment

[0069] After calibration and error compensation for the three-axis fiber optic gyroscope, use the quaternion Runge-Kutta method to calculate and update the attitude of the three-axis fiber optic gyroscope; select the four elements of the attitude as the state vector:

[0070]

[0071] Construct the pose quaternion transformation matrix:

[0072]

[0073] The initial attitude angle expressed by the quaternion is:

[0074] θ 0 =arcsin(2(q 2 q 3 +q 0 q 1 ))

[0075]

[0076]

[0077] At the same time, the three-axis accelerometer measures the three-axis acceleration in the motion state of the drone:

[0078] a b =[a x , a y , a z ]

[0079] The three-axis magnetometer measures three magnetic field components in the motion state of the multi-rotor UAV:

[0080] m b =[m x ,m,m z ]

[0081] Using the third-order optimal differentiator to differentiate the velocity measurement value of the Beidou satellite navigation system to obtain the linear motion acce...

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Abstract

The invention discloses an unmanned aerial vehicle attitude measurement method based on strapdown inertial navigation and a Beidou satellite navigation system, which is used for solving the problem that the measured attitude information error of the existing unmanned aerial vehicle attitude measurement is continuously increased along with time accumulation, and comprises the following steps: based on three sensors in the strapdown inertial navigation system of the unmanned aerial vehicle, measuring the attitude of the unmanned aerial vehicle; respectively measuring the angular velocity, the specific force and the magnetic field intensity of the unmanned aerial vehicle carrier; processing angular velocity data of the three-axis optical fiber gyroscope by using a quaternion Runge-Kutta method, and performing preliminary calculation to obtain estimated values of three attitude angles; and measuring by using the magnetic field values in three directions to obtain another attitude parameter yaw angle. The attitude information measured by the three-axis optical fiber gyroscope is preliminarily corrected by utilizing a Kalman filtering method, and complementary filtering compensation is performed on an inertial device of the unmanned aerial vehicle by introducing speed information measured by a Beidou satellite after difference, so that the unmanned aerial vehicle can still obtain an accurate attitude estimation value under the condition of no GPS navigation information.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an attitude measurement method for unmanned aerial vehicles based on strapdown inertial navigation and Beidou satellite navigation systems. Background technique [0002] Unmanned Aerial Vehicle (UAV) is cheap and will not cause casualties. It is very suitable for high-risk and difficult tasks that humans cannot participate in. The first condition for autonomous flight of UAVs is to obtain high-precision and high-reliability flight attitudes. [0003] At present, there are some solutions for precise attitude measurement of rotor UAVs. For example, CN110793515A proposes a UAV attitude estimation method based on single-antenna GPS and IMU under large maneuvering conditions. Although GPS played an important role in attitude measurement in the past, But if you rely solely on GPS, you will be controlled by others and even fail at critical moments. The Beidou satellite n...

Claims

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Application Information

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IPC IPC(8): G01S19/53G01C21/18G01C21/16
CPCG01S19/53G01C21/18G01C21/165
Inventor 潘继飞刘方正韩振中曾芳玲欧阳晓凤黄郡沈培佳吴韬谭龙
Owner NAT UNIV OF DEFENSE TECH
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