Research On High Precision Autonomous Navigation And Monitoring Technology Of UAV Based On BDS

Nowadays,with the continuous development and wide progress of UAV technology,UAV autonomous navigation technology has gradually begun to be used in all walks of life in society,providing safe,convenient,intelligent,environmental protection and other high-performance technology services.Making people's life and social production more and more convenient and efficient.The research and development of UAV autonomous navigation technology will continuously promote the innovation of social science and technology,which is of great significance for future development.This research is different from most UAV autonomous navigation systems using global satellite positioning system and radio control.Beidou navigation system with complete independent intellectual property rights is used as UAV positioning system.On this basis,a stable and efficient advanced inertial navigation algorithm based on prior global information are studied and designed to enable UAV to accurately complete Autonomous navigation mission.The core contents and achievements of this paper are as follows:(1)In this paper,the principle of RTK technology and its Dual-difference positioning model are studied.The key technologies of cycle slip repair,detection and ambiguity resolution are introduced.The working principle and process of VRS virtual reference station are also studied.The calculation of virtual observations and the establishment of double difference model are deduced theoretically.Relevant software development of network RTK technology is carried out.Network RTK technology is applied to Beidou location of UAV.These improves the positioning accuracy of UAV autonomous navigation.(2)In this paper,the attitude calculation method of UAV based on complementary filtering is studied in detail.Including Butterworth low-pass filtering technology,accelerometer gyroscope complementary filtering technology,Runge Kutta solution quaternion differential method and so on.The practicability of Butterworth filter and complementary filter is verified by simulation.On the basis of attitude settlement,vertical third-order complementary inertial navigation algorithm with horizontal double observers for UAV are studied,the practicability of the inertial navigation algorithm is verified by simulation.On the basis of INS,the PRM path planning algorithm of Dubins-A* combination is studied and the feasibility of the algorithm is verified by simulation.Finally the UAV can avoid obstacles and complete navigation tasks according to the optimal path under certain circumstances.(3)In this paper,the development environment of C# WPF is studied and the UAV monitoring software is designed and developed.The technologies of remote network communication,WPF control layout design related to autonomous navigation and map embedding design of third-party API are studied in detail.The remote bidirectional communication between navigation communication system and monitoring software is realized.It includes the issuance of monitoring software for UAV navigation task and the real-time display of UAV navigation position and trajectory by monitoring software.(4)On the basis of theoretical research,this paper systematically designs and develops the software of UAV high precision autonomous navigation and monitoring technology based on Beidou.On the basis of self-made monitoring host computer,self-made remote navigation communication system and unknown flight control system,an integrated test platform for UAV is built.The software design of the high precision position of UAV Beidou,the inertial navigation algorithm of UAV autonomous navigation and the path planning algorithm of UAV autonomous navigation are completed.Finally,a comprehensive experiment of this syudy was successfully carried out.