Research on Key Technologies of Multi-rotor UAV High-precision Positioning and Navigation System

In challenging environments, unmanned aerial vehicle (UAV) systems often encounter unstable satellite signals and communication link interference. This paper proposes an integrated navigation method that integrates inertial navigation system (INS), global navigation satellite system (GNSS), and visual navigation system (VNS). Utilizing data from onboard sensors, this method merges relative navigation information from feature tracking of multiple UAVs with each UAV’s absolute navigation data. It includes specially designed transmission rules to reduce data exchange between UAVs. Each UAV uses an adaptive unscented Kalman filter (AUKF) method, which is enhanced into a collaborative AUKF (C-AUKF) using a message passing-based approach. Experiments in a simulated mission scenario revealed that the C-AUKF, in comparison to using extended Kalman filter (EKF), significantly improved flight test performance across the entire testing area, with a cumulative deviation of only 10.22 m, about 0.85% of the total flight distance. These results demonstrate that the proposed method not only meets accuracy requirements for position and velocity in integrated navigation but also significantly enhances multi-UAV navigation precision, particularly in scenarios with global positioning system (GPS) interference.

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Design and Experimental Study of a Novel Semi-Physical Unmanned-Aerial-Vehicle Simulation Platform for Optical-Flow-Based Navigation

Lin

Wang

et al. 2023

Aerospace

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In the process of unmanned aerial vehicle (UAV) visual-navigation-algorithm design and accuracy verification, the question of how to develop a high-precision and high-reliability semi-physical simulation platform has become a significant engineering problem. In this study, a new UAV semi-physical-simulation-platform architecture is proposed, which includes a six-degree-of-freedom mechanical structure, a real-time control system and real-time animation-simulation software. The mechanical structure can realistically simulate the flight attitude of a UAV in a three-dimensional space of 4 × 2 × 1.4 m. Based on the designed mechanical structure and its dynamics, the control system and the UAV real-time flight-animation simulation were designed. Compared with the conventional simulation system, this system enables real-time flight-attitude simulation in a real physical environment and simultaneous flight-attitude simulation in virtual-animation space. The test results show that the repeated positioning accuracy of the three-axis rotary table reaches 0.006°, the repeated positioning accuracy of the three-axis translation table reaches 0.033 mm, and the dynamic-positioning accuracy reaches 0.04° and 0.4 mm, which meets the simulation requirements of high-precision visual UAV navigation.

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Research on Key Technologies of Multi-rotor UAV High-precision Positioning and Navigation System

Cited by 3 publications

References 5 publications

Research on cooperative collimating and locating model of air defense based on extended Kalman filter

Research on cooperative collimating and locating model of air defense based on extended Kalman filter

Research on collaborative multi-UAV localization method based on combination navigation information

Design and Experimental Study of a Novel Semi-Physical Unmanned-Aerial-Vehicle Simulation Platform for Optical-Flow-Based Navigation

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