Research On The Route Planning And Navigation System Of UAV

Unmanned Aerial Vehicle (UAV) is popular in battlefield because of its superiorperformance in recent years. With the increasing complexity of the environment ofwar, people raised the requirements for UAV and put a huge financial commitment tothe research of UAV. Among them, the UAV route planning and navigation systemsare both important foundations for UAV operations, which are important guarantees toimplement the missions of UAV. This paper makes a research and analysis on the keytechnology and existing problems of the UAV route planning and navigation systems.Firstly, this paper makes a research on the two important subsystems namelyUAV route planning system and navigation system. Separately, we establish the modelof UAV route planning system and navigation system, and make a detailed analysis ofthe relationship between the modules within the systems. Otherwise, we propose theevaluation criteria of UAV route planning and the reference coordinate system ofUAV navigation.Secondly, this paper makes a detailed analysis of the UAV route planningalgorithms and navigation methods. Based on the investigation of the2-D and3-Dsearch space and the model, we make an analysis of different route planningalgorithms, and this paper propose a fusion algorithm of Particle Swarm Optimization(PSO) and Ant Colony Optimization (ACO) algorithm. As the simulation results show,this kind of fusion algorithm has a fast convergence and gets a global optimal solution.Moreover, for the UAV Strapdown Inertial Navigation System (SINS), this paperfocuses on the attitude initial alignment and SINS solver algorithm.Finally, this paper designs a semi-physical simulation experimental system basedon inertial navigation system to verify the performance of route planning algorithm.The upper computer based on flight simulation visualization software is used toobserve the results of route planning algorithm. The lower computer based on theturntable controlled by DSP is used to achieve control results of route planningalgorithm. Meanwhile, this system realized the two-way communication between theupper and lower computer. Through the communication from the upper computer tothe lower computer, the results of route planning algorithm is put into DSP. Through the communication from the lower computer to the upper computer, the measurementresults of navigation system is transferred to the upper computer. The experimentalresults show that the system has a good performance.