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首页> 外文会议>UAVs Eighteenth International Conference Mar 31-Apr 2, 2003 Bristol, United Kingdom >Navigation and Flight Control Systems for Micro Air Vehicles
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Navigation and Flight Control Systems for Micro Air Vehicles

机译：微型飞行器的导航和飞行控制系统

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The US Naval Research Laboratory (NRL) has recently completed a five-year program to develop technologies for autonomous micro air vehicles (MAVs) capable of performing useful Navy missions. Constraints on flight systems for such MAVs, with a total mass of 200-400 grams, are severe. On board systems may mass no more than a few tens of grams, must be extremely compact, and inexpensive to the point of being expendable. To meet these challenges, novel flight control systems, based primarily on optical sensors, were combined with more traditional autopilot techniques. This paper will describe the systems and their flight test results. To date, three systems have been successfully test flown: 1) A system that combined a two-axis magnetometer, barometric altimeter, yaw rate gyro, and a commercial infrared stabilization system demonstrated autonomous heading and altitude hold on a 47-cm span MAV. 2) A prototype Global Positioning System (GPS) based autopilot, costing only about $150 US, navigated a slow-flying 120-cm span vehicle to a preprogrammed waypoint. This system is currently being miniaturized for use in smaller vehicles. 3) An optic flow sensor, developed earlier in the NRL MAV program and now being commercialized, was used to hold the altitude above terrain. The downward looking sensor provided a measurement of proximity of the aircraft to the ground that was linked to motor throttle control for appropriate ascent/decent. This system may be further extended for collision avoidance with obstacles. A vision-based navigation system employing monocular motion stereo techniques was also tested. Sequential video frames from a forward-looking camera were analyzed to determine the position of the horizon and to track the position relative to the aircraft of a group of repeatedly recognizable points, so as to determine vehicle attitude and ground track. This system also has the potential of recognizing known landmarks. In-flight images obtained from an MAV testbed are currently being used to perfect the necessary image processing algorithms.
机译：美国海军研究实验室（NRL）最近完成了一项为期五年的计划，以开发能够执行有用的海军任务的自动微型飞行器（MAV）技术。对于这种总重量为200-400克的MAV，其飞行系统的限制非常严峻。车载系统的质量可能不超过几十克，必须非常紧凑，并且便宜到可消耗的程度。为了应对这些挑战，将主要基于光学传感器的新型飞行控制系统与更传统的自动驾驶技术相结合。本文将介绍这些系统及其飞行测试结果。迄今为止，已成功测试了三种系统：1）结合了两轴磁力计，气压高度计，偏航角速度陀螺仪和商用红外稳定系统的系统，在47厘米跨度的MAV上具有自主航向和高度保持功能。 2）一个基于全球定位系统（GPS）的原型自动驾驶仪，仅花费约150美元，将一辆缓慢飞行的120厘米跨距的车辆导航到预先编程的航点。该系统当前正在小型化，以用于较小的车辆。 3）在NRL MAV程序中较早开发的光流量传感器现在已经商业化，用于保持高于地形的高度。向下看的传感器提供了飞机到地面的接近度的测量值，该测量值与电动机油门控制装置相连以进行适当的上升/下降。为了避免与障碍物的碰撞，可以进一步扩展该系统。还测试了采用单眼运动立体技术的基于视觉的导航系统。对来自前视摄像机的顺序视频帧进行分析，以确定地平线的位置并跟踪一组可重复识别的点相对于飞机的位置，从而确定车辆的姿态和地面轨迹。该系统还具有识别已知地标的潜力。从MAV测试台获得的飞行中图像目前正用于完善必要的图像处理算法。

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