无GPS环境下飞行器(四轴飞行器)的离线导航(寻的)

Unmanned Syst. Pub Date : 2020-08-20 DOI:10.1142/s2301385021500102

Mainak Mondal, S. Poslavskiy

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引用次数: 1

摘要

本文主要研究四轴飞行器的离线导航(返航)，在GPS拒绝区域或飞机失去GPS信号的情况下，使用Haversine大圆公式计算距离和方向。内部传感器用于估计距离和方向的偏移量。提出了一种控制系统修改，使用配备PX4FLOW的带有Pixhawk飞行控制器的四轴飞行器进行了几次测试，成功率很高。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Offline Navigation (Homing) of Aerial Vehicles (Quadcopters) in GPS Denied Environments

This paper focuses on offline navigation in quadcopters (Return-to-Home), autonomously in GPS Denied Areas or in cases that the aircraft loses GPS Signal by using the Haversine’s Great circle formula to calculate distance and direction. The internal sensors are used to estimate offsets for distance and direction. A control system modification is proposed, resulting in a high success rate with the several tests using a quadcopter with a Pixhawk flight controller, equipped with PX4FLOW.

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来源期刊

Unmanned Syst.

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