Research And Implementation Of 3D Omnidirectional Obstacle Avoidance And Positioning System For Indoor Four Rotor UAV

With the outdoor four rotor UAV technology,UAV in indoor gas detection,nuclear disaster rescue application,riot against terrorism,security monitoring and other fields are widely concerned,but because the indoor environment is complex and volatile and cannot be used for indoor and outdoor,UAV work inside the inevitable need to solve global navigation and obstacle avoidance the problem.This paper focuses on the four rotor UAV indoor obstacle avoidance and indoor positioning technology research,the main work is as follows:First,design and build the indoor four rotor UAV 3D full range obstacle detection system: four rotor UAV 3D full range obstacle detection based on the demand,the hardware architecture design of obstacle avoidance system,according to the characteristics and the distance sensor of the main control chip,complete 3D data acquisition sensor selection and obstacle avoidance system of the main control chip according to the ultrasonic sensor,obstacle detection principle,determine the number and location of the ultrasonic sensor,aiming at the problem of error caused by ultrasonic crosstalk,time division multiplexing and limiting arithmetic mean value filtering method,finally realizes the detection of 3D full range of obstacles.Second: the design and implementation of obstacle avoidance decision algorithm FC-ES based on 3D full range: according to the fuzzy rules "multi sensor configuration of the explosion" and the fuzzy decision conflict problem,using the multistage fuzzy controller and expert system is a combination of obstacle avoidance decision three-dimensional,three-dimensional obstacle information design for FC-ES3 D full range.Avoidance decision system based on webots environment based obstacle avoidance simulation system based on the experimental study of obstacle avoidance algorithm,and the advantages of FC-ES algorithm is verified by experiments.Third,the design and implementation of 3D indoor positioning system based on UWB for TDOA location is difficult to achieve,TWR for solving complex problems,using a range,through the TWR TDOA approach to solving strategies,aiming at the problem of low accuracy calculation method and Chan algorithm of 3D coordinates directly,according to the implementation of UAV can obtain the vertical coordinates the advantages,proposes a method for 3D coordinate optimization based on ultrasonic,and completed the 3D indoor positioning system experiment,realize the optimization of three-dimensional coordinates.Finally,the effectiveness of the method is verified by physical experiments,and the requirements of the project are achieved.The research results of this paper have certain significance for the realization of the four wing UAV obstacle avoidance andpositioning,and it has certain application value for the realization and promotion of the indoor unmanned aerial vehicle uav.