基于UWB的无人机自主导航系统设计

Autonomous navigation system design for UAV based on UWB

针对卫星拒止环境下的无人机导航,提出一种基于超宽带(Ultra Wide-Band,UWB)技术的局部定位系统,实现无人机定位与导航。首先利用UWB技术实现测距,进而解算无人机在局部坐标系下的三维坐标,然后基于扩展卡尔曼滤波(EKF)融合多传感器数据以提高无人机的定位精度。基于开源飞控Pixhawk搭建了无人机飞行验证平台,将UWB定位系统数据与飞控传感器数据融合,对无人机在局部坐标系下的自主飞行进行了仿真。最后通过实验验证了基于UWB的多传感器数据融合导航在无人机自主导航控制上的可行性,实现了无人机在地面平台上的自主起降、对地目标伴飞等飞行导航任务。

A local positioning system based on ultra-wide band(UWB)technology is proposed to realize unmanned aerial vehicle(UAV)navigation in the environment of satellite denial.Firstly,the UWB technology is used to realize the ranging,and then the three-dimensional coordinates of the UAV in the local coordinate system are solved.Then the multi-sensor data are fused based on extended Kalman filter(EKF)to improve the positioning accuracy of the UAV.Based on the open source flight control Pixhawk,the UAV flight verification platform is built,and the UWB positioning system data is fused with the flight control sensor data to simulate the autonomous flight of UAV in the local coordinate system.Finally,through experiments,the feasibility of multi-sensor data fusion navigation based on UWB in the autonomous navigation control of UAV is verified,and the flight navigation tasks of UAV such as autonomous take-off and landing on the ground platform and flying with ground targets are realized.