某型MAV的自主导航算法及飞行试验

Autonomous Navigation Algorithm and Flight Test for A Cretan MAV

针对某型固定翼MAV,在飞行姿态控制和高度控制已经比较完善、机载GPS精度受到制约并存在信号延时的状况下,对该MAV的导航算法进行了探讨。历经多次计算机仿真和飞行试验,根据PID控制原理,设计并完善了适合该MAV的导航算法,给出了基于此算法的飞行试验结果。试验结果表明,该算法满足MAV执行长距离飞行任务的要求。

Under the condition of flight attitude control and height control are perfect, but there are precision restriction and signal time-delay on certain fixed wing MAV. This paper discusses autonomous navigation algorithm for the MAV. By masses of computer simulation and flight test, and based on PID control principle, it proposes and improves the navigation control algorithm, and gives the flight test result. The test result shows that the algorithm satisfies the requirements of MAV long distance flight.