Design And Implementation Of Dual-mode Navigation UAV Target Positioning System

With the rapid rise of various countries in the military field,the development of high-precision and targeted attack technology has received extensive attention and attention.As a highly maneuverable,long-running unmanned aerial vehicle,the drone has the advantages of concealment,high resolution,strong real-time,no casualties,flexible operation,and easy use in the field of investigation and tracking.Target positioning accuracy is the most important indicator of the positioning and strike system and is an important prerequisite for achieving accurate strikes.This paper aims at the application requirements of UAV target positioning system,and designs and develops a UAV airborne photovoltaic platform target positioning system based on an embedded platform.The following results have been achieved:This system uses an eight-rotor UAV as a flight platform,mounts target tracking and positioning units with TMS320C6657 DSP and Zynq-7020 processor as the core,integrates the SC260 two-degree-of-freedom optical reconnaissance platform and data link,and designs a set of installations.Simple and flexible drone target positioning system.For the traditional GPS single-frequency positioning in the wartime is completely controlled by the United States,vulnerable to interference and other shortcomings,this system for the first time on the Pixhawk open source flight control using GPS-L1 band and Beidou-B3 band positioning module,proposed dual-mode broadband satellite navigation Positioning program to enhance system stability and anti-jamming capability.And for the common dual-mode satellite navigation in the market can not switch the drawbacks of the selection of navigation satellites,this system is designed to program-controlled switching navigation satellite dual-mode navigation strategy,and complete the flight verification.For the target positioning system of UAV,the positioning accuracy of a single positioning sensor is low,and it is difficult for the processor to process multiple sensor data at the same time.This paper proposes the following solutions.One uses a distributed Kalman filter instead of the traditional centralized CAR.The Mann filter method utilizes the advantages of multiple processors and multiple cores in the positioning board to perform position prediction for each positioning sensor alone,thereby improving the positioning accuracy of the UAV itself and reducing the calculation amount of the single processor of the system.The second method uses cross-covariance fusion to fuse the filtered data of the two positioning sensors.So as to avoid the traditional method difficult to solve the cross-covariance,or simply can not calculate the cross-covariance results in the problem of data fusion.By improving the positioning method,the amount of system calculation is reduced and the positioning accuracy is improved.At the same time,it is free from the problems that RTK GPS is restricted by the communication distance of the base station.Aiming at the problem that the traditional homogenous coordinate transformation target localization algorithm will be affected by environmental factors such as weather conditions,which results in large deviations in positioning results,this paper proposes an improved algorithm based on the combination of frequency distribution histogram and traditional target location algorithm,which will use 50 frames of image Give the results of traditional algorithm processing through the histogram statistics output optimal results,as the target location results in the current frame image stored at the same time,and propose two-mode navigation and target positioning accuracy optimization strategy to adapt to complex environments,given high-precision target positioning results.The improved target localization algorithm overcomes the disadvantages of traditional algorithms such as jitter due to environmental influences,inaccurate attitude angles,etc.,which may cause large deviations in the algorithm results,and improves the accuracy of target location results.The target positioning results are stored,effectively avoiding the loss of the target caused by the occlusion of simple targets caused by other moving objects or clouds,and the target positioning interruption,which improves the stability of the system.In order to achieve the command and control and real-time monitoring of the UAV target positioning system,this paper designed and developed the UAV ground monitoring software and system control software based on the VS2013 development environment.Through the ground software system,real-time monitoring and feedback of the positioning system working status and positioning results to ensure the system operating efficiency and the correctness of the algorithm,to provide a good test and verification platform for the UAV target positioning system.