Research On Multi UAV Cooperative Positioning And Mapping Technology

Simultaneous Localization and Mapping(SLAM)technology plays a vital role in the execution of unmanned aerial vehicles in an unknown environment without navigation information.Multiple UAVs work together to achieve a faster mapping speed and higher precision positioning results,which has broad application prospects in both military and civilian applications.This paper takes the rotary radar drone equipped with laser radar as the research object,and studies the multi-UAV cooperative SLAM technology.Firstly,the basis of multi machine slam: single UAV SLAM algorithm is improved.Aiming at the problem of jump discontinuity in attitude estimation,an optimal estimation method based on motion constraints is proposed.This method effectively improves the jump problem in the process of attitude estimation and improves the accuracy of attitude estimation.For example,the mean square deviation of heading angle is only 3.5%.At the same time,the continuity of attitude angle state estimation is ensured.Then,a distributed observer algorithm for slam is proposed.In the cooperative positioning and mapping system of multiple platforms,each platform shares the observation information of the environment.After proving the observability of the system,a distributed observer based on graph theory is designed,and the convergence of the observer is proved by theory.The simulation experiment shows that the method can effectively reduce the estimation error of the position and attitude of individual single machine in the process of cooperative mapping,and improve the system The stability of the whole system.Finally,two UAVs are used to construct the experimental system to verify the method in this paper,and the collaborative positioning and mapping method based on formation control is further explored.The cooperative control law of distributed observer algorithm based on slam is designed by using the internal model principle,which proves that the method can adjust the output of cooperative control under the condition of limited input The semi global convergence property is verified by the simulation experiment.