Research On Autonomous Anti-collision System Of Non-rotorcraft Based On Multi-sensor Information Fusion

In recent years,unmanned rotorcraft has been rapid development and wide application.For example,in the military investigation,hit the target,terrain exploration,law and order fire,communications and other fields play an important role.However,UAVs in the practical application of the existence have a lot of security issues.For example,the manipulation of radio-controlled unmanned aerial vehicles requires considerable expertise,without the professional training of the control personnel prone to misuse,making the UAV collisions with other objects.In addition,the UAV may fly outside the operator's field of view and radio control,depending on job requirements and environmental restrictions.Similar to the existence of these security risks,may lead to unmanned aerial vehicles without control and collision and fall risk,resulting in a certain economic loss.In view of the above problems,unmanned rotorcraft autonomous anti-collision system has important research significance and practical application value.Based on the research and analysis of the related technology of unmanned rotorcraft,it is found that most UAV anti-collision systems have the disadvantages of poor measurement accuracy and great influence on the environment.In this paper,a design scheme of autonomous collision avoidance system for unmanned rotorcraft based on multi-sensor information fusion is proposed.The system uses laser sensors and millimeter-wave radar sensors for ranging,and then the two sensors to collect the information fusion,to achieve the UAV on the distance measurement of the accuracy of obstacles.In this paper,adaptive Kalman filter is used to fuse the measurement data of two kinds of sensors,and then the Kalman filter is used to fuse the data of the traditional Kalman filter fusion data.Through the comparison of theoretical analysis and simulation experiment,the accuracy of fusion of two kinds of sensor data by using adaptive Kalman filter algorithm is verified.Then,according to the functional requirements of the design of independent anti-collision system,including the control system and the system of the various modules of the device selection.Finally,the QBall 2 UAV experiment platform is used to design the experimental scheme,and the function and verification of the anti-collision system are carried out.Through the analysis of the experimental results,unmanned rotorcraft independent anti-collision system to meet the requirements.