赵春晖1,2, 刘安萌1,2, 吕洋1,2(), 潘泉1,2
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:
Chunhui ZHAO1,2, Anmeng LIU1,2, Yang LYU1,2(), Quan PAN1,2
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:
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。
中图分类号:
赵春晖, 刘安萌, 吕洋, 潘泉. 无人机韧性自主定位技术综述[J]. 航空学报, 2024, 45(8): 28839-028839.
Chunhui ZHAO, Anmeng LIU, Yang LYU, Quan PAN. A survey of resilient self-localization for UAV[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(8): 28839-028839.
表 5
后端估计过程中可能出现的误差、原因及常规解决方法
问题 | 出现原因 | 解决思路 |
---|---|---|
离群点 | 特征错误匹配,导致 优化函数专注于处理 错误数据 | 1) 通过距离筛选,如 马氏距离叠加卡方 分布作为阈值 2) 更换带阈值的 误差函数(鲁棒核 函数),如Huber核函数 3) 优化特征匹配算法 |
线性化误差 | 对非线性的观测函数和 运动函数进行线性化时, 一阶泰勒展开近似 产生误差 | 1) 逆深度参数化 2) 延迟线性化 |
一致性问题 | 线性化过程中计算 导致可观性矩阵 与实际不符 | 1) First Estimate Jacobians 2) 随机克隆 |
边缘化问题 | 由于后端不能处理所有 路标点和状态,因此 需要将部分状态固定不再考虑,这会带来一些误差 | 1) 设计不同的取舍 策略,实现边缘化的 最小影响 2) 设计更加有效的 计算链路,以更大的 算力减小边缘化程度 |
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