| The rapid increase of business related to data sharing based on location service(LBS)has made positioning technology more and more important as a key technology to overcome the space obstacle and assist life.For some outdoor applications,GPS is considered the best choice for positioning.At the same time,with the update and development of the open-source flight control and UAV technology,civilian UAV ushered in the development of blowout,and its application prospect is very broad.UAVs are widely used in fields such as agriculture and forestry,meteorology,communications,electricity,photography,disaster monitoring,geological survey and air traffic control due to their wide application,high efficiency and low cost.When single-frequency GPS carrier phase differential technology is used in dynamic and precise measurement,the classic LAMBDA algorithm can't work due to less observable epochs,cycle slips,and residual errors.An improved LAMBDA algorithm based on Kalman filtering was studied in order to solve the problem.The results of single point positioning can be used as a more accurate float solution by Kalman filtering.The improved LAMBDA algorithm,by using filtered float solution and its covariance matrix,can improve the speed and success ratio of the integer ambiguity resolution.In order to prove its effectiveness and feasibility,the experiments for verification have been conducted with outdoor real environment which show that compared with the classic LAMBDA algorithm,it greatly increases positioning accuracy,and meet the needs of practical applications.Finally,based on the high-precision positioning algorithm,a posture tracking algorithm based on high-precision GPS positioning is proposed.The algorithm is used for real-time monitoring UAV angle of roll,pitch,yaw.In the case of not using the traditional inertial sensor IMU,get rid of the interference of temperature,current,magnetic field and other factors,and improve the safety and reliability of the UAV. |
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