The Indoor And Outdoor Seamless Navigation Fusion Method Of Quadrotor UAV

The quadrotor unmanned aerial vehicle has been widely used in civil and military technology fields with its advantages of small size,light weight,and easy to operate.Compared to fixed-wing aircraft,it has many advantages such as vertical take-off and landing.The quadrotor can be used for outdoor complex environment and also for indoor and other narrow spaces.In order to improve the stability of the quadrotor flight without GPS in the room and the continuity of seamless flight.The problems of MCS/INS integrated navigation algorithm,inertial component error compensation method and seamless fusion are studied in this paper.Firstly,the MCS / INS combinatorial algorithm with measurement delay is studied.With the motion capture system as the platform to realize the high precision flight of the quadrotor.In the process of using the motion capture system,the delay in data chain transmission greatly affects the real-time performance of aircraft attitude and position acquisition.An improved MCS / INS integrated navigation algorithm was presented to eliminate the impact of the data chain delay.The performance of the navigation algorithm is validated by the actual flight experiments under the platform of the motion capture system.The verification results show that the improved integrated navigation algorithm can reduce the influence of measurement delay on the system and make the flight more stable in indoor flight.The position accuracy of the flight of the quadrotor reaches the decimeter level.Secondly,the installation and calibration of the MEMS-IMU of the quadrotor are studied in this paper.And the navigation accuracy of the micro inertial navigation system is improved.Inertial navigation is an important navigation method of quadrotor.However,the error of gyroscope and accelerometer in inertial navigation system will directly affect its navigation accuracy.The MEMS-IMU error calibration method in quadrotor focuses only on its non-orthogonal errors,ignoring the mounting errors on the quadrotor.The error of the scale factor and the non-orthogonal error are calibrated off-line.Then the error of the body axis of the IMU and the quadrotor spacecraft is estimated and compensated by the indoor motion capture system.The the accuracy of the inertial navigation is improved.The high precision attitude,velocity and position information provided by the MCS are used as measurement information.The error angle of the MEMS-IMU is estimated as the extended state quantity by Kalman filter.Then the observability of MEMS-IMU system is analyzed.The experimental results show that the compensation method can improve the speed and position output accuracy under inertial navigation.And improve the accuracy and reliability of autonomous navigation in indoor and outdoor flight.Then the feasibility and algorithm of seamless intelligent navigation in the process of indoor and outdoor flight of quadrotor is studied.At present,there are many problems in the course of indoor and outdoor flight of quadrotor.Such as different navigation reference coordinate system,different types of measurement information sources and multi-sensor fusion mode changes during flight.They will directly affect the navigation accuracy and reliability in indoor and outdoor flight.Therefore,a method to unify the position from different coordinates is presented.Considering the complexity of flight environment,an adaptive federated filter with variable structure is proposed.Through the adjustment of the self-adaptive distribution factor,the sensors can give full play at different stages and achieve the goal of high precision and reliable flight during the seamless flight.The feasibility of seamless flight guidance scheme is proved by the simulation experiment.In the end,the quadrotor experiment platform with MEMS-INS,GPS,sonar,optical flow,magnetic sensor,barometer and other sensors are built.The motion capture system is applied to the autonomous navigation of the quadrotor UAV in the indoor environment without GPS.A large number of flight experiments are carried out for the quadrotor in the indoor fixed-point,autonomous track flight and indoor and outdoor flight.The experimental results show that the indoor high-precision integrated navigation and positioning technology and indoor and outdoor seamless fusion method is feasible and effective.The indoor navigation and the seamless navigation of the quadrotor combined with the outdoor is studied in this paper,which has a good theoretical research significance and engineering research value.