A Multi-source Positioning Information Fusion Method Applied to Long Endurance UAV Payload

Abstract

The invention belongs to the technical field of unmanned aerial vehicles and provides a multi-source positioning method for long-endurance unmanned aerial vehicles. First, obtain the initial calculation information of the UAV integrated navigation system and the load system, and judge the outlier value of the UAV integrated navigation system. If the result is an outlier value, the load positioning system uses its own positioning system to calculate the current position information; If it is not an outlier value, then pass the calculation information at the current moment to the positioning system carried by the load; judge the outlier value of the load positioning system, if the obtained calculation information of the load positioning system is an outlier value, only use the UAV The information transmitted by the integrated navigation system is forecasted to obtain the position at the current moment; if neither is an outlier value, the two are fused together, and the position information calculated by the integrated navigation system of the UAV and the position calculated by the load positioning system can be combined. The information is fused to enhance the accuracy of load position estimation, thereby improving the working performance of the load.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a multi-source positioning method for long-endurance unmanned aerial vehicles. Background technique [0002] Aeronautical earth observation technology is widely used. With the development of UAVs and various payloads, the use of UAVs to carry payloads for earth observation can achieve higher-precision three-dimensional mapping, wind and wave measurement and other functions. The realization of the above functions needs to solve the position information of the load itself, complete the splicing of the measurement information, and form the measurement results of the target area. There are currently two ways to obtain the location information of the payload. One is to use the integrated navigation system information of the UAV, and the other is to use the information of the payload's own positioning system. But both have certain limitations: For the firs...

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Problems solved by technology

But both have certain limitations: for the first method, although the payload is fixedly connected to the UAV, the position information calculated by the integrated navigation system of the UAV can theoretically be equivalent to the position information of the payload, but the second method is The first method does not use the same set of time systems, and there will be deviations; for the second method, due to factors such as size and power consumption, the load generally cannot carry a high-performance positioning system, and the position estimation accuracy is not high

However, the above methods either bring extra consumption and bring a great burden to the UAV, or lack real-time performance and can only rely on post-processing

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