Research On Positioning Method Of Indoor UAV Based On Visible Light

With the rapid iterative update of UAV technology,a series of functions such as indoor and outdoor aerial photography,handling and monitoring of UAV have received unprecedented attention,which need to provide a reliable location-based service.At present,outdoor positioning systems,such as global positioning system(GPS)and Beidou Positioning System(BDPs),have become mature.However,the application of indoor positioning and navigation needs to be studied.Visible light communication technology has the advantages of rich spectrum resources,fast communication speed,low cost and no electromagnetic interference.Based on this,this paper designs an indoor UAV3 D positioning system based on visible light communication technology,and proposes a feasible navigation method.The main work of this paper is as follows:Aiming at the problems of low accuracy and long time-consuming of Indoor 3D positioning system,an indoor visible light 3D positioning method based on improved hybrid bat algorithm is proposed.Firstly,the influence of multipath reflection on visible light communication is analyzed,and the interference is reduced by selecting the appropriate field of view(FOV).Then Kalman filter algorithm is used to reduce the interference of ambient light noise.Aiming at the situation that the photoelectric receiver of UAV will tilt during flight,channel tilt modeling is carried out.Furthermore,an improved hybrid bat algorithm is proposed,in which beacon points are added at the beginning of the algorithm iteration to guide the algorithm to iterate quickly.Then weight factor is designed to make the algorithm consider the actual situation.Besides,the adaptive weight factor and chaotic disturbance is added to avoid the algorithm falling into local optimum,so as to improve the calculation accuracy and reduce the complexity of the algorithm.Compared with the existing visible light three-dimensional positioning algorithm,the advantages of this method in positioning accuracy and speed are verified.To solve the problems of large path loss and long time-consuming in Indoor 3D positioning,an indoor visible light 3D navigation method based on improved adaptive A*algorithm is proposed.Firstly,based on the results of visible light location,the obstacle model is constructed by using 3D mapping technology.Then,based on A* path planning algorithm,the direction search strategy is used to eliminate invalid path nodes,and the adaptive step search formula and weight factor are introduced to optimize the evaluation function,so as to improve the efficiency of path planning and reduce the path loss.The simulation results show that this method can effectively reduce the path loss and timeconsuming.Finally,an experimental positioning platform with dimensions of 1.2m×1.5m×2m is constructed for physical verification,and the experimental results show that the proposed indoor visible 3D positioning system has an average positioning error of 3.64 cm and an average positioning time of 0.89 s in the actual environment.Compared with the two existing proposed visible 3D positioning systems,the proposed positioning system has higher positioning accuracy and faster positioning speed.