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首页> 外文会议>Unmanned Systems Technology IX; Proceedings of SPIE-The International Society for Optical Engineering; vol.6561 >Development of a GPS/INS/MAG Navigation System and Waypoint Navigator for a VTOL UAV
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Development of a GPS/INS/MAG Navigation System and Waypoint Navigator for a VTOL UAV

机译：为VTOL无人机开发GPS / INS / MAG导航系统和Waypoint导航器

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Unmanned aerial vehicles (UAV) can be used for versatile surveillance and reconnaissance missions. If a UAV is capable of flying automatically on a predefined path the range of possible applications is widened significantly. This paper addresses the development of the integrated GPS/INS/MAG navigation system and a waypoint navigator for a small vertical take-off and landing (VTOL) unmanned four-rotor helicopter with a take-off weight below 1 kg. The core of the navigation system consists of low cost inertial sensors which are continuously aided with GPS, magnetometer compass, and a barometric height information. Due to the fact, that the yaw angle becomes unobservable during hovering flight, the integration with a magnetic compass is mandatory. This integration must be robust with respect to errors caused by the terrestrial magnetic field deviation and interferences from surrounding electronic devices as well as ferrite metals. The described integration concept with a Kalman filter overcomes the problem that erroneous magnetic measurements yield to an attitude error in the roll and pitch axis. The algorithm provides long-term stable navigation information even during GPS outages which is mandatory for the flight control of the UAV. In the second part of the paper the guidance algorithms are discussed in detail. These algorithms allow the UAV to operate in a semi-autonomous mode position hold as well an complete autonomous waypoint mode. In the position hold mode the helicopter maintains its position regardless of wind disturbances which ease the pilot job during hold-and-stare missions. The autonomous waypoint navigator enable the flight outside the range of vision and beyond the range of the radio link. Flight test results of the implemented modes of operation are shown.
机译：无人机（UAV）可用于多功能监视和侦察任务。如果无人机能够在预定路径上自动飞行，则可能的应用范围将大大拓宽。本文介绍了集成式GPS / INS / MAG导航系统和用于小型垂直起降（VTOL）无人四旋翼直升机的航点导航仪的发展，该直升机的起飞重量低于1千克。导航系统的核心由低成本惯性传感器组成，这些传感器不断得到GPS，磁力计罗盘和气压高度信息的辅助。由于这一事实，在悬停飞行期间偏航角变得不可观察，因此必须与电磁罗盘集成。对于由地面磁场偏差和周围电子设备以及铁氧体金属造成的干扰所引起的误差，这种集成必须具有鲁棒性。所描述的带有卡尔曼滤波器的积分概念克服了错误的磁测量结果导致侧倾和俯仰轴的姿态误差的问题。即使在GPS中断期间，该算法也可以提供长期稳定的导航信息，这对于无人机的飞行控制是必不可少的。在本文的第二部分中，将详细讨论制导算法。这些算法允许无人机在半自主模式的位置保持以及完全自主的航路点模式下运行。在位置保持模式下，直升机不受风的干扰而保持其位置，这在保持和凝视任务期间减轻了飞行员的工作。自主的航点导航器使飞行范围超出了视觉范围，超出了无线电链接的范围。显示了已实施操作模式的飞行测试结果。

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