| The aerospace industry is an embodiment of a country's comprehensive strength.With the development of aerospace industry,people have put forward higher requirements for the accuracy and stability of autonomous navigation.Due to the shortcomings of the existing navigation methods,they have not fully adapted to the rapid development of navigation needs.Exploring new navigation methods has gradually become a research trend.The idea of using polarized light for navigation learns from the navigation of some insects on the earth.The new bionic navigation method is a completely autonomous.This paper takes the navigation application of new bionic polarized light navigation sensor in three-dimensional space as the background.An integrated navigation control system is designed based on polarized light sensor,micro inertial measurement unit(MIMU)and global positioning system(GPS),and applied to the navigation control of quadrotor,and has strong anti-electromagnetic interference capability.Firstly,the heading angle measurement principle of polarized light sensor is studied.The flight principle and attitude calculation method of quadrotor are given.The dynamic model of quadrotor is deduced and constructed,which provides a theoretical basis for the follow-up navigation control and system optimization.Then,according to the functional requirements of the polarized light sensor experiment platform,the demand analysis of the four-rotor navigation experimental platform is carried out.The overall scheme design of the experimental platform is given.The microprocessor module,power system and communication module are selected according to specific requirements,and then the construction of the four-rotor navigation test platform is completed.According to the navigation requirements of the polarized light sensor,the overall structure of the software system and the main program flow chart are given.The function of the ground station software is redefined,so that the heading information output by the polarized light sensor can be displayed in real time.Secondly,the multi-sensor data fusion algorithm of polarized light sensor,MIMU and GPS is designed by using extended kalman filter(EKF)technology.The state equation and measurement equation are defined.The recursive steps and calculations of the algorithm are given.The simulation experiment is designed by simulating the actual straight flight,and the correctness of the algorithm is verified.In addition,the attitude controller and position controller based on cascade PID theory are designed.According to the simplified four-rotor dynamic model,the transfer functions of four channels of yaw,vertical,pitch and roll are obtained.The attitude and position controllers are simulated by using Matlab/Simulink module simulates.The step response curves of each channel are obtained by adjusting parameter of PID,which verifies the effectiveness of the cascade PID control algorithm.Finally,the performance of the navigation system is tested through the designed quasi-static experiment and outdoor autonomous flight experiment.In addition,a comparative test is designed to compare the system with the traditional electronic compass /MIMU/GPS navigation system.The results show that the mean position accuracy of the navigation system based on polarized light is 50.4% higher than that of traditional navigation system in the presence of magnetic field interference.The root mean square errors of pitch angle,roll angle and heading angle are 0.801°,0.819° and 3.436°,respectively.It is indicated that the navigation control system has good real-time performance,high precision,strong anti-electromagnetic interference capability and the error does not accumulate over time,which can meet the accuracy and reliability requirements of the mobile carrier for autonomous navigation. |
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