Research On Attitude Estimation And Path Planning Algorithm For Multi-UAV Based On GPS/INS Combination

In recent years,unmanned aerial vehicle(UAV)has become a hot research field.Navigation system is an important part of UAV,which provides a guarantee for the safe and stable flight.High precision navigation can be achieved by using GPS/INS integrated navigation system which has the advantages of complementary features,the essence of integrated navigation system is a multi-sensor information optimization processing system.Because of the important navigation parameters are obtained from multi-sensor information fusion,the study of multi-sensor information fusion technology is the key to solve the problem of UAV integrated navigation.This paper introduces the GPS/INS integrated navigation system information fusion process,designs a three level fusion structure for the output data of GPS and INS and proposes an extended Kalman filtering algorithm.After filtering of the integrated navigation system,the output errors of the integrated navigation system's position and velocity parameters are significantly reduced.At the same time,the UAV ground control station can observe the UAV flight attitude,UAV attitude error has a big problem,this paper proposes an improved strap down inertial navigation algorithm to correct the UAV flight attitude,achieves a high precision attitude estimation and obtains good trajectory simulation results.For the question of UAV flight obstacle threat in the environment,this paper proposes a method for environment modeling based on the Tyson polygon.according to the number and location of the obstacle in the UAV flight environment,the method provides flight regional security for UAV.This paper combines ant colony algorithm with the Tyson polygon,providing a reasonable the flight path for each UAV.Due to the constraint of ant colony algorithm's search strategy for multi-UAV path planning,the algorithm has a low execution efficiency.In order to improve the search efficiency of ant colony algorithm,this paper proposes a quantum ant colony algorithm,the method combines quantum computation and ant colony algorithm,overcomes the shortcomings of ant colony algorithm.Experiments show that the quantum ant colony algorithm can be efficient for each UAV to provide a number of flight path.Finally,according to the collaborative relationship between UAV,the paper realizes multi-UAV path planning.