微小型多旋翼飞行器室内近距离三维定位技术研究

发布时间：2018-05-09 15:22

本文选题：微小型飞行器 + MEMS传感器　；参考：《沈阳理工大学》2016年硕士论文

【摘要】：伴随着无人机技术的蓬勃发展,对于定位技术精度的要求越来越高。目前使用最为普及的是GPS全球定位系统,使用范围广,能够实现全球覆盖。虽然GPS拥有众多优点,然而在室内环境下由于建筑物吸收使得信号微弱,需要通过其他定位方案来实现室内近距离三维定位。考虑到MEMS传感器的优越性能,可以制定一种基于MEMS微惯性传感器的室内近距定位方案。该方案选取一款集成了三轴加速度计、三轴陀螺仪以及三轴磁场的GY-86模块与搭载了ATMEGA2560处理芯片的ARDUINO开发套件,辅以超声波测距仪和数据传输模块,设计了一套能够在室内三维环境中对飞行器运动进行跟踪,并重建运动轨迹实现定位的硬件系统。根据经典力学中牛顿第二定律的相关原理,通过传感器采集飞行器运动过程中的加速度和姿态角数据,先利用卡尔曼滤波器减小测量误差,再通过二重积分和捷联解算算法求得飞行器的位移和方向,实现室内定位。在硬件实现方面,把微惯性传感器采集的加速度与角加速度数据写入到Micro SD卡中,然后再将存储卡中的数据传输到上位机中,在上位机中使用MATLAB对数据进行处理,通过对软件程序对运动轨迹进行了重建。最后给出了部分设计程序并且对系统进行了测试分析,实验结果验证了定位系统软硬件主要模块功能的正确性和可行性,提出了改进措施并对来工作进行了展望。
[Abstract]:With the rapid development of unmanned aerial vehicle (UAV) technology, the precision of positioning technology is becoming more and more high. GPS Global Positioning system (GPS) is the most widely used system, which can achieve global coverage. Although GPS has many advantages, in the indoor environment, the signal is weak due to the absorption of the building, so it is necessary to realize the indoor close-range 3D location by other positioning schemes. Considering the superior performance of MEMS sensor, an indoor close-range positioning scheme based on MEMS micro inertial sensor can be developed. This scheme selects a GY-86 module integrated with three-axis accelerometer, three-axis gyroscope and three-axis magnetic field, and a ARDUINO development kit with ATMEGA2560 processing chip, supplemented by ultrasonic rangefinder and data transmission module. A hardware system is designed to track the motion of the aircraft and reconstruct the track to realize the positioning in the indoor 3D environment. According to the related principle of Newton's second law in classical mechanics, the acceleration and attitude angle data of aircraft are collected by sensors, and the Kalman filter is used to reduce the measurement error. Then the displacement and direction of the aircraft are obtained by double integral and strapdown algorithm, and the indoor positioning is realized. In the aspect of hardware realization, the acceleration and angular acceleration data collected by micro inertial sensor are written into Micro SD card, then the data from memory card are transmitted to the host computer, and the data are processed by MATLAB in the upper computer. The motion track is reconstructed by the software program. Finally, part of the design program is given and the system is tested and analyzed. The experimental results verify the correctness and feasibility of the main functions of the hardware and software modules of the positioning system. The improvement measures are put forward and the future work is prospected.
【学位授予单位】：沈阳理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP212

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