四旋翼无人机航迹数据修复方法研究

Research on Track Data Repairing Method of Quadrotor Unmanner Aerial Vehichl

随着四旋翼无人机技术向民用领域的发展,为保证无人机在低空领域中的安全运行,首先要保证四旋翼无人机航迹数据的可靠性。通过对动态捕捉系统采集的航迹数据进行识别,分析了数据故障产生原因以及多种解决方案,比较多种数据修复方法后,利用线性插值法、卡尔曼滤波等方法对故障数据进行修复。分析结果证明,在线性插值的基础上利用设计的卡尔曼滤波器对故障数据进行修复的方法可行,对真实航迹数据进行缺失处理,并用提出的方法进行修复后进行比对,发现结果逼近真实值,证明方法可以很好地解决数据缺失的问题。

With the development of quadrotor UAV technology to the civilian field, in order to ensure the safe operation of the UAV in the lowaltitude field, first, we must ensure the reliability of the quadrotor UAV data. In order to improve the rel^iability of the track data of the quadrotor UAV, the track data col- lected by the dynamic capture system are identified. After analyzing the causes of data failure and a variety of solutions, and comparing various data repair methods, the fault data is repaired by linear interpolation method and Kalman filter. The analysis results show that the method of Kalman filter to repair the fault data is feasible on the basis of linear interpolation. The real track data is missing and compared with the method proposed in this paper. The results are close to the real value, prove that the method can solve the problem of missing data.