基于激光雷达的无人机仿地飞行系统设计与实现

Design and Implementation of UAV's Terrain Following SystemBased on Lidar

仿地飞行系统不仅在植保无人机中起着关键的作用,而且给无人机的RTL(自主返航)模式和远距离测绘提供了更加安全的保障。设计了一种基于激光雷达的仿地飞行系统,用于解决现有技术中仿地飞行控制方法存在计算量大和实时性差的问题。通过增加激光雷达的输出频率提高无人机对地面相对高度的感知速度,应用了数据融合的二轴云台保证了激光雷达测距的准确与稳定,在仿地飞行中高度环采用了模糊PID的控制算法,有效提高了系统的仿地性能和鲁棒性。实际飞行测试表明:该系统在只有单测距仪工作的情况下计算量较小,能很好实现无人机仿地飞行,实时性较好,具有较强的实际应用价值。

Terrain following system not only plays a key role in plant protection uav,but also provides a more secure guarantee for RTL(Return To Land)mode and remote mapping of uav.A terrain following system based on lidar is designed to solve the problem of large computation and poor real-time performance in terrain following control methods.By increasing the output frequency of the lidar,the perceived speed of the uav to the relative height of the ground is improved,the accuracy and stability of the lidar ranging is guaranteed by the application of the data fusion of the gimbal,and the fuzzy PID control algorithm is adopted in the topographic tracking height loop,which effectively improves the system’s ground imitation performance and robustness.The actual flight test shows that the system has a small amount of calculation when only the single rangefinder works,and it can well realize the terrain tracking of uav with good real-time performance and strong practical application value.