The Design And Implementation Of Navigation And Positioning System For Four Rotor Vehicle In The Mine

Environmental detection has the significant reference value for rescue work.when disasteroccurs in mine. Four rotor aircraft realized flight automatically in the mine overcomes thedefects of the equipment on the ground, to better achieve detection, acquisition, transmission ofthe disaster environment parameters and information. Navigation and positioning technology inthe work process of four rotor aircraft plays an important role in making correct route andsafe rescue measures to rescue personnel.Based on the analysis of navigation and positioning technology, the paper puts forward anew integrated navigation scheme which combined by the chirp spread spectrum technology thatobtain the distance through measuring the time of the radio signal propagation and inertialnavigation system. The ranging algorithm is used the double road ranging algorithmSDS-TWR,which obtain distance by measuring the time of round trip, this technology needs nota clock synchronization, reduces hardware requirements of the system. Inertialnavigation system by gyroscope and accelerometer obtains the roll angle, angle, velocity,acceleration, position status information, etc. combined with inertial navigation system andthe chirp spread spectrum system, to form the integrated navigation system, consisting of theInertial Navigation system/Wireless Ranging system, and obtain the more accurate navigationand positioning information, and realize the wireless transmission of collected data. Experimentsshow that the new scheme in this paper can reflect the flying condition and location informationof four rotor aircraft accurately and timely in the mine, in favor of rescuing after the accident.The paper selects the hardware platform were selected, The wireless ranging module wasselected the CMT-01V1as the wireless ranging module developed by cloud valley company inBeijing, the module integrates with nanoPAN5375as the RFID module provided by the GermanNanotron; and selects Germany MK suite as four rotor aircraft, and after the secondary development to realize autonomous flight in roadway; PC software developed in Windows XP,select the.NET development platform, design and implement the navigation software, realize theKalman Filtering algorithm emphatically, in order to improve the accuracy of navigation andpositioning.After the development of the system, we test the navigation and positioning system in alimited and simulation environment, through the analysis of positioning results, the experimentproved that navigation and positioning system in this research topic has the characteristics of lowpower consumption, strong anti-interference ability and high positioning accuracy, etc.