Research On Integrated Navigation Technology For Multi-rotor Unmanned Aerial Vehicle

With the development of Multi-rotor unmanned aerial vehicle(UAV)toward to autonomy and intelligence,the multi rotor UAV puts forward higher requirements on the performance of its navigation system.However,due to its own cost constraints,the sensor accuracy of its navigation system is low.In order to solve this problem,this paper proposes a INS/GPS integrated navigation system,which combines the micro inertial navigation system of UAV with GPS by using the information fusion technology and can improve the overall performance of navigation system.The research work of this paper is focused on the design of the integrated navigation system,and main work includes following aspects:(1)According to the research needs,this paper designs the hardware platform of the integrated navigation system,then analyses the measurement characteristics of each sensor in the hardware platform,and designs the calibration algorithms to eliminate the systematic error in the sensors.Aiming at the delay problem of some sensors,this paper designs a synchronization algorithm to realize the time synchronization of data from different sensors.(2)Research on data fusion algorithm in integrated navigation system.A series of improved algorithms such as sequential process,adaptive filter and strong tracking filter are presented to solve the problems of large computational complexity,noise statistics is unknown and filtering divergence when Kalman filter is applied to integrated navigation systems.(3)Based on the error model of the navigation system,the state equation and the measurement equation of Kalman filter are established.The Kalman filter is used to estimate and correct the velocity error,position error,attitude error and inertial sensor error of the navigation system.(4)In order to verify the effectiveness of the integrated navigation system,firstly,a semi physical simulation model is built and used to analyses its results.Then navigation information from the integrated navigation system is directly used in the control of multi rotor UAV,in order to further verify the effectiveness of the navigation system.The results of experimental and simulation both show that the integrated navigation system can meet the requirements of autonomous flight of the UAV.