Design And Application Of Unmanned Aerial Vehicle Embedded Integrated Navigation

Unmanned aerial vehicle(UAV)has been widely used in military and civil field because of its low cost,small size and strong survivability.The navigation system is an important part of the unmanned aerial vehicle,the performance of it will have a direct impact on the flight result.There are many kinds of navigation systems based on different principles,but the defects are unavoidable when the system is used alone.Using SINS and GPS for integrated navigation.In this paper,the mode of SINS/GPS integrated navigation has been used,an embedded integrated navigation hardware system was designed and the development of software was completed with the algorithm research of integrated navigation.First of all,the design of embedded hardware system is completed in this paper.The functional requirements of integrated navigation are analyzed,and the embedded hardware system scheme based on ARM architecture is determined.The selection of sensor components and the design of working circuit are completed,and the integrated navigation hardware system with STM32F303CCT6 as the core is designed.Then the research and improvement of the integrated navigation algorithm is completed.Considering the gyro drift brings attitude update error,two kinds of data of acceleration and magnet is introduced to fuse.The paper designs an attitude estimation algorithm based on quaternion by using EKF.According to the error transfer equation of SINS,the state and measurement equation of the loosely coupled navigation system are established respectively.Afterwards,the embedded software development of integrated navigation is completed.The paper designs the implementation plan of periodic tasks and aperiodic tasks by using the timing and interruption mechanism of embedded system.The task of sensor data acquisition and processing is built on the base of underlying hardware driver.The clock synchronization scheme is designed to solve the problem that the time of GPS and SINS data observation is not synchronized.Finally,the integrated navigation system is tested.The function of the integrated navigation system is realized under the environment of static and dynamic tests.