针对不同视场辅助信标的无人机目标定位方法
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摘要
针对无人机在单站测角测距的目标定位过程中受无人机姿态角误差影响较大的问题,提出一种对辅助信标进行探测并与惯性传感器相结合的无人机姿态求解方法。建立基于容积卡尔曼滤波的惯性传感器姿态求解模型,采用梯度下降法对基于辅助信标的无人机位姿参数进行求解,并综合它们的结果对无人机的姿态偏差进行估计和校正,最后完成了不同视场条件下的目标定位和仿真计算。结果表明,所提方法对无人机目标定位精度有明显提高。
Aimed at the problem that the UAV' s( unmanned aerial vehicle' s) single station angle and distance measurement are greatly affected by the UAV's attitude angle error,a method was proposed to solve the UAV's attitude by detecting the auxiliary beacon and combining with the inertial sensor. The attitude solving model of inertial sensor based on cubature Kalman filter was established. By using the gradient descent method,the attitude parameters of UAV based on auxiliary beacons were solved,and the results were comprehensively used to estimate and correct the attitude error of UAV. Finally the targets' location and simulation calculation under different fields of view were completed. The results show that the proposed method can improve the precision of UAV target location.
Aimed at the problem that the UAV' s( unmanned aerial vehicle' s) single station angle and distance measurement are greatly affected by the UAV's attitude angle error,a method was proposed to solve the UAV's attitude by detecting the auxiliary beacon and combining with the inertial sensor. The attitude solving model of inertial sensor based on cubature Kalman filter was established. By using the gradient descent method,the attitude parameters of UAV based on auxiliary beacons were solved,and the results were comprehensively used to estimate and correct the attitude error of UAV. Finally the targets' location and simulation calculation under different fields of view were completed. The results show that the proposed method can improve the precision of UAV target location.
引文
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[2]Li X,Xu Q M. A reliable fusion positioning strategy for land vehicles in GPS-denied environments based on low-cost sensors[J]. IEEE Transactions on Industrial Electronics,2016,64(4):3205-3215.
[3]Fourati H,Manamanni N,Afilal L,et al. Complementary observer for body segments motion capturing by inertial and magnetic sensors[J]. IEEE/ASME Transactions on Mechatronics,2014,19(1):149-157.
[4]Cho H G,Yeon S,Choi H,et al. 3D pose estimation with one plane correspondence using kinect and IMU[C]//Proceedings of International Conference on Intelligent Robots and Systems,2015:1970-1975.
[5]Allotta B,Costanzi R,Fanelli F,et al. Single axis FOG aided attitude estimation algorithm for mobile robots[J].Mechatronics,2015,30:158-173.
[6]Barba P D,Wiak S. Evolutionary computing and optimal design of MEMS[J]. IEEE/ASME Transactions on Mechatronics,2015,20(4):1660-1667.
[7]Guggenheim J W,Jentoft L P,Tenzer Y,et al. Robust and inexpensive six-axis force-torque sensors using MEMS barometers[J]. IEEE/ASME Transactions on Mechatronics,2017,22(2):838-844.
[8]von Marcard T,Pons-Moll G,Rosenhahn B. Human pose estimation from video and IMUs[J]. IEEE Transactions on Pattern Analysis&Machine Intelligence,2016,38(8):1533-1547.
[9]Ahrens S, Levine D, Andrews G, et al. Vision-based guidance and control of a hovering in unknown,GPS-denied environments[C]//Proceedings of the IEEE International Conference on Robotics and Automation,2009:2643-2648.
[10]熊敏君,卢惠民,熊丹,等.基于单目视觉与惯导融合的无人机位姿估计[J].计算机应用,2017,37(S2):127-133.XIONG Minjun, LU Huimin, XIONG Dan, et al. Pose estimation of UAV based on monocular vision and inertial navigation[J]. Journal of Computer Applications,2017,37(S2):127-133.(in Chinese)
[11]Bachrach A, He R J, Roy N. Autonomous flight in unstructured and unknown indoor environments[C]//Proceedings of the European Micro Aerial Vehicle Conference and Flight Competition,2009:1982-1991.
[12]闵华松,杨杰.融合IMU的RGBD-SLAM算法改进研究[J].计算机工程与设计,2015,36(1):120-126.MIN Huasong, YANG Jie. Research of improved RGBDSLAM algorithm fusing IMU[J]. Computer Engineering and Design,2015,36(1):120-126.(in Chinese)
[13]马可锌,王惠南.基于视觉的近距离编队对偶四元数相对位姿估计算法[J].系统工程与电子技术,2013,25(2):391-396.MA Kexin,WANG Huinan. Dual-quaternion relative position and attitude estimation algorithm of close formation flight based on vision[J]. System Engineering and Electronics,2013,25(2):391-396.(in Chinese)
[14]符小卫,冯慧成,高晓光.通信距离约束下双无人机目标跟踪算法[J].系统工程与电子技术,2013,35(8):1663-1668.FU Xiaowei, FENG Huicheng, GAO Xiaoguang. UAVs cooperative target tracking under communication range constraints[J]. System Engineering and Electronics,2013,35(8):1663-1668.(in Chinese)
[15]Meng W,He Z R,Su R,et al. Decentralized multi-UAV flight autonomy for moving convoys search and track[J].IEEE Transactions on Control Systems Technology,2017,25(4):1480-1487.