{"title":"该定位系统用于无人机的自主导航","authors":"Qi Zhang, Yaoxing Wei, Xiao Li, Hanchen Xu","doi":"10.1109/CCDC52312.2021.9602371","DOIUrl":null,"url":null,"abstract":"The autonomous navigation problem for the unmanned aerial vehicle (UAV) is quite difficult in the indoor environment due to the weak GPS signal. Therefore, accurately obtaining the position of UAV in the indoor environment or GPS-denied environment has become the research hotspot in the field of autonomous intelligent UAV. In order to obtain the position of UAV in these environments, the indoor positioning system based on UWB for autonomous navigation of UAV are designed in this paper, which used Kalman filter algorithm to fuse inertial measurement unit (IMU) data. To verify the designed positioning system, the hardware of the positioning system and the software of the ground control station are designed. And the experiment results can demonstrate that the positioning system can realize the stable positioning of UAV and the static positioning error is less than 10 cm, which can be used in autonomous navigation system of UAV.","PeriodicalId":143976,"journal":{"name":"2021 33rd Chinese Control and Decision Conference (CCDC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"The positioning system use for autonomous navigation of unmanned aerial vehicles\",\"authors\":\"Qi Zhang, Yaoxing Wei, Xiao Li, Hanchen Xu\",\"doi\":\"10.1109/CCDC52312.2021.9602371\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The autonomous navigation problem for the unmanned aerial vehicle (UAV) is quite difficult in the indoor environment due to the weak GPS signal. Therefore, accurately obtaining the position of UAV in the indoor environment or GPS-denied environment has become the research hotspot in the field of autonomous intelligent UAV. In order to obtain the position of UAV in these environments, the indoor positioning system based on UWB for autonomous navigation of UAV are designed in this paper, which used Kalman filter algorithm to fuse inertial measurement unit (IMU) data. To verify the designed positioning system, the hardware of the positioning system and the software of the ground control station are designed. And the experiment results can demonstrate that the positioning system can realize the stable positioning of UAV and the static positioning error is less than 10 cm, which can be used in autonomous navigation system of UAV.\",\"PeriodicalId\":143976,\"journal\":{\"name\":\"2021 33rd Chinese Control and Decision Conference (CCDC)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-05-22\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 33rd Chinese Control and Decision Conference (CCDC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CCDC52312.2021.9602371\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 33rd Chinese Control and Decision Conference (CCDC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCDC52312.2021.9602371","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The positioning system use for autonomous navigation of unmanned aerial vehicles
The autonomous navigation problem for the unmanned aerial vehicle (UAV) is quite difficult in the indoor environment due to the weak GPS signal. Therefore, accurately obtaining the position of UAV in the indoor environment or GPS-denied environment has become the research hotspot in the field of autonomous intelligent UAV. In order to obtain the position of UAV in these environments, the indoor positioning system based on UWB for autonomous navigation of UAV are designed in this paper, which used Kalman filter algorithm to fuse inertial measurement unit (IMU) data. To verify the designed positioning system, the hardware of the positioning system and the software of the ground control station are designed. And the experiment results can demonstrate that the positioning system can realize the stable positioning of UAV and the static positioning error is less than 10 cm, which can be used in autonomous navigation system of UAV.
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