ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Autonomous navigation method aided by aerodynamics model for an indoor quadrotor
Received date: 2014-04-09
Revised date: 2014-05-30
Online published: 2014-06-06
Supported by
National Natural Science Foundation of China (61174197); Aeronautical Science Foundation of China (2012ZC52045); Funding of Jiangsu Innovation Program for Graduate Education (CXLX11_0201); Funding for Outstanding Doctoral Dissertation in NUAA (BCXJ11-04)
Inertial/satellite/magnetometer/barometer integrated navigation system is commonly used in navigation schemes of a quadrotor. However, since satellite navigation is unavailable during indoor flight, this navigation scheme cannot satisfy the velocity measurement and positioning accuracy requirements of the quadrotor, so that it will restrict the indoor autonomous flight ability. In order to solve the problem, based on the aerodynamics characteristics of the quadrotor, an inertial/magnetometer/barometer/aerodynamics model integrated navigation scheme is proposed in this paper. The characteristics of a quadrotor's aerodynamics model are analyzed and the basic principle of the aerodynamics aided navigation scheme is discussed. The algorithm of the proposed navigation scheme is proposed and the implementation procedure is designed. Finally, a simulation platform is established based on the aerodynamics model of the OS4 quadrotor. Both the hovering flight and the maneuvering flight of a quadrotor are simulated. The simulation results show that the proposed scheme can significantly improve the position/velocity accuracy. The proposed navigation scheme has the advantages of strong autonomy, low cost and zero loads, which does not need extra sensors. It has good application value for the indoor navigation of the quadrotor.
LYU Pin , LAI Jizhou , YANG Tianyu , LIU Jianye , ZHU Bin , SONG Yifan . Autonomous navigation method aided by aerodynamics model for an indoor quadrotor[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015 , 36(4) : 1275 -1284 . DOI: 10.7527/S1000-6893.2014.0112
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