Design Of Multi-Rotor UAV Compound Navigation System

As a Vertical Take-Off and Landing-Multi-rotor UAV,compared to conventional fixed-wing aircraft,it has lots of advantages,such as low-speed flight,takes off and lands vertically and Hovering.Nowadays UAV has been widely used in various fields.The composite navigation system studied in this paper is one of the core components of a multi-rotor UAV.The main work of this paper is as follows:(1)Hardware:Improvements have been made to the existing hardware problems of drone navigation systems and designed the compound navigation system based on modular design mind.First of all,the overall design of the composite navigation system was determined based on actual needs.Then introduced the various sub-modules of the system,and for some common problems,mainly for geomagnetic interference,GPS signal instability and other issues,put forward a corresponding improvement program.In the inertial navigation module damping method,this paper abandons the traditional external damping structure with better performance of the internal damping structure,thereby improving the performance of the inertial navigation module.(2)Software:This paper studied the application of drone navigation algorithms.They are AHRS attitude calculation algorithm and GPS/INS navigation algorithm.AHRS is to calculate the attitude angle information.Due to the special structure of the design hardware(the INS module and the flight control module share a common processor),if the traditional AHRS based on EKF is used,may appear the problem of lacking processor ability.Therefore,this design improves the algorithm and sets the weight of the Kalman filter to a fixed value,thereby reducing the amount of calculation.In addition,in order to make up for algorithmic flaws and external factors,this design uses GPS information to compensate the attitude angle,thereby improving the quality of attitude angle information.In order to obtain high-precision and high-frequency data the GPS/INS algorithm was used.we fuse the data of the inertial navigation module and the GPS data.In order to obtain the speed information and position information.(3)Through comparative experiments with existing equipment,analyze the feasibility and reliability of the hardware and software algorithms of the sensor system designed in this Paper.