Research On Autonomous Navigation Of Agricultural UAV Based On Beidou

Autonomous navigation basically adopts independent navigation methods and GPS combination.Applied autonomous navigation based on Beidou Navigation Satellite System are much less currently.According to the application requirement of agricultural UAV independent navigation methods,this research adopted a combination of Beidou satellite navigation and inertial navigation,built a four-rotor UAV autonomous navigation experiment platform,designed an autonomous navigation method of agricultural UAV Based on Beidou.Laboratory and field test experiments showed that autonomous navigation systems preliminary realize the autonomous navigation of agricultural UAV.The main research contents and results are shown as follows:(1)After the analysis of existing agricultural UAV autonomous navigation systems,according to the specific application requirements of UAV application in agriculture,a four-rotor UAV autonomous navigation experiment platform was set up.The platform mainly consists of five modules:a flight control module,an inertial measurement module,a Beidou navigation module,a driver module and a communication module.Through the design and debugging of each module,autonomous navigation experiment platform was built.On the basis of the hardware platform,flight test experiments showed that UAV autonomous navigation experiment platform realize the steady autonomous flight of agricultural UAV.(2)After the analysis and comparison of several methods to improve the navigation accuracy of Beidou navigation positioning module,the simulation and optimization results showed that the Extended Kalman Filter algorithm is better than the weighted least squares algorithm.Positioning accuracy of the UAV autonomous navigation system using the Extended Kalman Filter was 3.07m,with an average positioning error of the system was reduced to 1.05m,initially meet the demands of positioning the agricultural UAV.(3)According to the actual needs and requirements of agricultural UAV navigation operating environment,the paper selected the PID control algorithm for flight control,the max min ant colony algorithm for path planning,with the Extended Kalman Filter algorithm for improving the positioning accuracy of UAV constituted the software part of the UAV autonomous navigation system.After hovering experiment and path planning experiment,the autonomous navigation system can be realized:the max flight altitude error is 2.98m,the max latitude and longitude error is 3.65m and the average latitude and longitude error is 1.81m.The autonomous navigation system preliminary realized the UAV autonomous navigation,met the actual demand of agricultural operation of UAV.