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面向系统工程的无人机自主定位系统研究

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系统工程是沟通各工程学科的桥梁,旨在设计和实现复杂系统时优化各个子系统以获得更好的系统行为能力,对无人机系统的设计研发具有重要的指导作用.在无人机系统的众多子系统当中,定位系统为无人机提供准确的位置信息,是后续实现导航和避障功能的基础.面向无人机系统工程,设计一种自主定位系统,包括多传感器系统建模、前端视觉惯性里程计、紧耦合后端优化算法和系统定位结果及环境地图输出4部分,实现在复杂环境下的无人机自主定位,并设计试验验证平台,验证定位系统精度和鲁棒性.实验结果表明,该无人机自主定位系统平均定位误差小于0.07m,满足无人机系统工程设计需求.
Research on UAV autonomous positioning system for system engineering
System engineering is a bridge connecting various engineering disciplines.It aims to optimize each subsystem to obtain better system behavior ability when designing and implementing complex systems.It plays an important guiding role in the design and development of UAV systems.Among the many subsystems of the UAV system,the positioning system provides accurate location information for the UAV,which is the basis for subsequent navigation and obstacle avoidance functions.This paper designed an autonomous positioning system for UAV system engineering,including multi-sensor system modeling,front-end visual inertial odometry,tightly coupled back-end optimization algorithm,system positioning results and environment map output,thus realizing UAV autonomous positioning in complex environments.An experimental verification platform was designed to verify the accuracy and robustness of the positioning system.The experimental results showed that the average positioning error of the proposed UAV autonomous positioning system was less than 0.07 m,which met the requirements of UAV system engineering design.

system engineeringUAVIMUautonomous positioning systemtest platform

卢元杰、陈星伊、苏大林、孙唯

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中国航空工业集团公司沈阳飞机设计研究所,辽宁沈阳 110035

系统工程 无人机 惯性测量单元 自主定位系统 试验平台

2024

图学学报
中国图学学会

图学学报

CSTPCD北大核心
影响因子:0.73
ISSN:2095-302X
年,卷(期):2024.45(2)