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