Research On Homing Technology Based On Inertial Navigation For Quad-rotor Aircraft

With the increasing task complexity of the quad-rotor aircraft,the reliability of the aircraft navigation mode is required.In the application of navigation technology of quadrotor aircraft,the external correction/measurement method of inertial navigation technology is mainly global satellite navigation system.When the quad-rotor aircraft uses satellite navigation signal for the homing mission,the loss of satellite signal will lead to the failure of aircraft homing.In this paper,the external correction method of inertial navigation based on satellite navigation is improved to visual navigation in the course of course reversal,and an inertial navigation course reversal scheme is proposed.Firstly,aiming at the problem that the commonly used position solving method of quadrotor aircraft is too simplified,an inertial navigation position solving scheme based on traditional inertial navigation theory is proposed,which is suitable for the inertial sensor and navigation coordinate system used by quad-rotor aircraft.Secondly,the track model is designed to solve the problem of complex and inefficient track information recording in the course of course return of four-rotor aircraft,so that the navigation system can extract track record and adjust the course return strategy in real time according to the recorded information.Finally,in view of the satellite navigation signal back and susceptible to interference and failure problems,put forward a landmark image based visual navigation and inertial fusion scheme,which was designed based on the landmark image of four rotor aircraft position calculating method,and puts forward a landmark information fusion and inertial navigation position of kalman filtering algorithm.According to the homing scheme,the navigation system records the satellite positioning coordinates of the body and calculates the location information of landmarks along the way.After the failure of the satellite positioning signal,the aircraft began to rely on the track model,the visual system and the prior landmarks to assist the inertial navigation system for autonomous return.The contrast experiment of inertial navigation and visual inertial navigation and the homing experiment of simple path and complex path have proved the effectiveness of the autonomous homing scheme after the failure of satellite navigation means.