航空学报 > 2024, Vol. 45 Issue (8): 28839-028839   doi: 10.7527/S1000-6893.2023.28839

无人机韧性自主定位技术综述

赵春晖1,2, 刘安萌1,2, 吕洋1,2(), 潘泉1,2   

  1. 1.西北工业大学 自动化学院,西安 710072
    2.信息融合技术教育部重点实验室,西安 710072
  • 收稿日期:2023-04-07 修回日期:2023-05-17 接受日期:2023-06-28 出版日期:2024-04-25 发布日期:2023-07-07
  • 通讯作者: 吕洋 E-mail:lyu.yang@nwpu.edu.cn
  • 基金资助:
    国家自然科学基金(62073264);陕西省重点研发计划(2021ZDLGY01-01)

A survey of resilient self-localization for UAV

Chunhui ZHAO1,2, Anmeng LIU1,2, Yang LYU1,2(), Quan PAN1,2   

  1. 1.School of Automation,Northwestern Polytechnical University,Xi’an 710072,China
    2.Key Laboratory of Information Fusion Technology,Ministry of Education,Xi’an 710072,China
  • Received:2023-04-07 Revised:2023-05-17 Accepted:2023-06-28 Online:2024-04-25 Published:2023-07-07
  • Contact: Yang LYU E-mail:lyu.yang@nwpu.edu.cn
  • Supported by:
    National Natural Science Foundation of China(62073264);Provincial Key Research Program of Shaanxi(2021ZDLGY01-01)

摘要:

当前无人机(UAV)自主定位技术研究多针对特定硬件配置平台在稀疏友好环境中满足简单任务时的定位要求,在大范围复杂稠密环境和长周期复杂任务时不具备持续性、高可靠性和强适应性,制约了无人机更大规模和更广范围的应用。本文聚焦无人机韧性自主定位技术,从自主定位系统回路中的感知、估计、控制3个核心环节出发,关注持续性、可靠性和适应性等韧性指标,按多源冗余信息融合、鲁棒后端估计和具备感知意识的控制策略对国内外研究工作进行了梳理评述,指出在韧性指标要求下当前无人机自主定位技术的局限性,以及在有限机载资源条件下进行方法集成的技术难点,对无人机韧性自主定位技术的发展方向进行了展望。

关键词: 无人机韧性, 自主定位, 信息融合, 不确定性估计, 动态控制

Abstract:

At present, research on self-localization technology for Unmanned Aerial Vehicle (UAV) is primarily focused on meeting the localization requirements for simple tasks in sparse and friendly environments, employing specific hardware configurations. However, these technologies lack continuity, high reliability, and strong adaptability in large-scale, complex, and dense environments or for long-term and challenging missions, which limits the wide-range and large-scale application of UAV. This paper focuses on resilient self-localization technology for UAV, starting from the three core elements of perception, estimation and control in the self-localization system loop, emphasizing resilience indicators such as continuity, reliability, and adaptability. The paper reviews and evaluates domestic and foreign research work from the perspectives of redundant information fusion, robust pose estimation and perception-aware control strategy. The limitations of current UAV self-localization technology under resilience indicators are highlighted, and the technical difficulties of method integration under limited onboard resources are pointed out. Finally, development trends concerning UAV resilient self-localization technology are prospected.

Key words: unmanned aerial vehicles resilience, self-localization, information fusion, uncertainty estimation, active control

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