Research On High-precision Positioning And Navigation System Of UAV Based On RTK

With the development of science and technology,UAVs have been involved in human activities more and more widely in various ways with tasks which are more flexible.Under the current developing trend of intelligent and automated,to improve navigation method of the UAVs is a subject that we have to deal with.Needs of onboard UAVs navigation equipment in the future can be summarized as high precision,small size,low cost.The development of manufacturing technology for MEMS technology provides a low cost,small size and light weight onboard inertial navigation device for UAVs,but the accuracy still can not meet the needs of some complicated tasks with high navigation accuracy requirements.There are many methods used for improving MEMS navigation accuracy.For example,using better algorithm eliminates the error accumulated by MEMS inertial navigation.The more common method is to obtain a real-time positioning coordinates by adding an auxiliary positioning system for error correction and compensation,this approach is also known as integrated navigation.After considering the advantages of ultrasonic positioning,laser positioning,UWB and GPS as the real-time positioning system to combine whit MEMS,this paper confirms the use of MEMS and GPS integrated navigation,and improves the GPS positioning accuracy by RTK positioning technology to form a high-precision low-cost integrated navigation system for UAVs.RTK is a carrier-phase differential technique that eliminates most of the errors that occur in GPS positioning,greatly improving the accuracy of positioning results and even reaching centimeter levels.However,RTK equipment is very expensive on the market.Therefore,based on the open source RTKLIB function library,this paper uses a low-cost microprocessor chip to develop the RTK positioning system,and verifies the positioning results.