Research On The Path Planning And Positioning Navigation System Of UAV

With the rapid development of science and technology,unmanned aerial vehicle(UAV)flight technology has a great improvement.With its excellent performance,in recent years,the UAV obtained wide application in various fields.Especially in the field of civil applications,UAV takes a lot of tasks under special circumstances.The society also has invested a lot of money to UAV related research.The path planning system of UAV and outdoor navigation positioning system are the keys of the UAV to realize the tasks,which make sure that the flight of UAV is quick and safe.This article has studied the UAV path planning system and outdoor navigation positioning system.First of all,in this paper,the path planning of UAV subsystems are studied,we established a model of UAV path planning system.On the basis of unmanned UAV problem model of PV array inspection task,in view of the three dimensional search space and its model,this paper analyzed the characteristics of each route planning algorithm,then presented a fusion algorithm based on A*algorithm and ant colony algorithm.The MATLAB simulation results show that the fusion algorithm can get global optimal solution effectively,and complete the inspection task of UAV.Later,this paper studied outdoor navigation positioning system based on the strap down inertial navigation system.At first,this paper analyzed the attitude algorithm of UAV,then put forward several current algorithms for attitude algorithm.After analyzing and comparing several kinds of algorithm,we summed up their respective advantages and disadvantages and then chose quaternion method as the attitude algorithm of UAV algorithm.This paper established the acceleration ratio force formula which can transfer the body acceleration to the ground acceleration,by the correction of the earth rotation angular velocity.Finally,we used a complementary fusion filtering algorithm to correct the error of attitude algorithm.Finally,this paper adopted a semi-physical simulation experiment system based on M100 UAV approximately,to verify the correctness of the algorithm.The upper machine of this system is M100 UAV development platform which provides the SDK and a variety of hardware interface that can realize real-time flight data transmission.The lower machine is a personal computer that uses various sensor data from UAV to simulate the fusion algorithm,and draws the flight path.The experimental results show that the strapdown inertial navigation system can effectively be used for outdoor flight of UAV navigation positioning.