基于固定翼无人机的偏振光信息融合算法研究

发布时间：2018-04-10 11:18

本文选题：偏振光导航 + 偏振光传感器　；参考：《大连理工大学》2015年硕士论文

【摘要】：偏振光导航是一种新型的仿生导航技术。由于偏振光导航具有自主性、抗干扰性等优势,其应用前景得到广泛关注。目前无人机导航技术大多依赖卫星,但卫星导航易受干扰和攻击等缺陷。为了保障无人机具有高精度和抗干扰性的导航技术,设计了两种融入偏振光传感器信息的滤波算法以及基于偏振光组合导航的无人机实验平台,为偏振光导航在无人机三维空间导航领域的应用累积了前期的应用理论和实验基础。本文分析天空偏振光的分布规律,并研究了如何从天空偏振光中获取方位信息；探讨了偏振光传感器在倾斜情况下方位角的求取方法,为偏振光传感器应用于无人机三维导航提供一定的理论基础。对捷联惯导系统和GPS/SINS组合导航系统的机理进行了研究,利用惯导工具箱和Matlab进行仿真,并使用MFC技术开发了捷联惯导系统仿真界面。在此基础上,设计了两种融入偏振光传感器信息的组合导航算法,分别是基于偏振光传感器的集中卡尔曼滤波算法和基于偏振光传感器的互补滤波算法,利用Matlab仿真两种算法,结果表明都能提高无人机的姿态精度,满足导航精度的要求。为了研究偏振光传感器在无人机导航上的应用,设计了基于偏振光组合导航的无人机实验平台,分析无人机实验平台的功能需求,完成无人机实验平台的软硬件开发。经过多次实验调试,实现无人机的自主飞行,并采集大量偏振光传感器数据验证了基于偏振光组合导航理论和实验的可行性。
[Abstract]:Polarized light navigation is a new bionic navigation technology.Due to the advantages of autonomy and anti-interference, the application prospect of polarized light navigation has been paid more and more attention.At present, UAV navigation technology mostly relies on satellite, but satellite navigation is vulnerable to interference and attack.In order to guarantee the navigation technology of UAV with high precision and anti-jamming, two filtering algorithms are designed to incorporate the information of polarized light sensor and the UAV experimental platform based on integrated navigation of polarized light is designed.The theoretical and experimental basis for the application of polarized light navigation in the field of three-dimensional navigation of UAV is accumulated.In this paper, the distribution law of sky polarized light is analyzed, and how to obtain azimuth information from sky polarized light is studied.It provides a theoretical basis for the application of polarized light sensor in UAV three-dimensional navigation.The results show that it can improve the attitude accuracy of UAV and meet the requirements of navigation accuracy.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V279;V249.3

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