电子学报 ›› 2020, Vol. 48 ›› Issue (1): 198-203.DOI: 10.3969/j.issn.0372-2112.2020.01.024

• 科研通信 • 上一篇    下一篇

偏振光传感器在四旋翼飞行器中的应用

褚金奎, 武进, 李金山, 支炜   

  1. 大连理工大学机械工程学院, 辽宁大连 116023
  • 收稿日期:2018-11-20 修回日期:2019-03-20 出版日期:2020-01-25 发布日期:2020-01-25
  • 通讯作者: 褚金奎
  • 作者简介:武进 男,1993年生于甘肃白银.2016年于燕山大学获得学士学位.现为硕士研究生,主要从事四旋翼无人机控制系统研究.E-mail:18742526931@163.com
  • 基金资助:
    国家自然科学基金(No.51675076,No.51505062);国家自然科学基金创新研究群体(No.51621064)

Application of Polarization Sensor in Quadrotor Helicopter

CHU Jin-kui, WU Jin, LI Jin-shan, ZHI Wei   

  1. School of Mechanical Engineering, Dalian University of Technology, Dalian, Liaoning 116023, China
  • Received:2018-11-20 Revised:2019-03-20 Online:2020-01-25 Published:2020-01-25

摘要: 为了实现偏振光传感器在实际三维空间中的导航应用,设计了一种基于仿生偏振光导航传感器、微惯性测量单元(MIMU)与全球定位系统(GPS)的组合导航控制系统,并实际应用到了四旋翼导航控制之中.本文首先介绍了偏振光传感器的功能模型和测角原理.其次采用扩展卡尔曼滤波(EKF)技术设计了偏振光传感器、MIMU、GPS的信息融合算法,通过室外飞行试验对该导航系统的性能进行了测试,并与传统MIMU/GPS/电子罗盘导航系统进行了比较.结果显示:在有磁场干扰环境下,基于偏振光的导航控制系统平均位置精度较传统导航系统提高了50.4%.实验结果表明:该导航控制系统实时性好、精度较高、抗电磁干扰能力强,且误差不随时间累积,基本满足移动载体进行自主导航时的精度和可靠性要求.

关键词: 偏振光传感器, 四旋翼, 导航, 扩展卡尔曼滤波

Abstract: In order to apply the polarization sensor to the real three-dimensional navigation,an integrated navigation control system was designed based on the bionic polarized light navigation sensor,micro inertial measurement unit (MIMU) and global positioning system (GPS),and was applied to the quadrotor navigation control.Firstly,the functional model and angle measurement principle of the polarization sensor was presented.Then,the extended Kalman filter (EKF) technology was used to design the information fusion algorithm of the polarization sensor,MIMU and GPS.The performance of the navigation system was validated by an outdoor flight experiment and was compared with the traditional MIMU/GPS/compass navigation system.The results show that the mean position accuracy of the navigation system based on polarized light is 50.4% higher than that of the traditional navigation system in the presence of magnetic interference.It is indicated that the polarized light navigation control system has good real-time performance,high precision,strong anti-electromagnetic interference capability and the error does not accumulate over time,which can meet the accuracy and reliability requirements when the mobile carrier implements autonomous navigation.

Key words: polarization sensor, quadrotor, navigation, extended Kalman filter (EKF)

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