基于激光测距的无人机地形匹配飞行方法研究

Based on Laser Ranging Method Research of Uav Terrain Matching Flight

摘要:

为了解决现有民用无人机在山区等复杂地形下难以实现地形匹配飞行的问题,分析了地形匹配飞行的技术难点,提出了一种基于激光测距的无人机地形匹配飞行方法；先运用基于最小二乘法的拟合模型提高激光测距模块的精度,再利用激光测距模块分别实时测得无人机与地面的相对高度和地形的起伏角度,结合DMC-PID串级控制算法,使得无人机可以自主实现地形匹配飞行；该方法无需昂贵的地形检测传感器和复杂的软件算法,具有设备重量轻,应用难度低等特点；通过实地飞行测试,验证了该方法的有效性和可行性。 

Abstract:

In order to solve the existing civil uav under complicated topography, such as in mountainous area of difficult terrain matching flight problems, analysis the technical difficulties of terrain matching flight, proposes a uav flying terrain matching method based on laser ranging.First using fitting model based on least square method to improve the accuracy of laser ranging module, real-time measured using laser ranging module respectively unmanned aerial vehicle (uav) and the relative height of the ground and the fluctuation angle of terrain, combining DMC - PID cascade control algorithm, makes the uav can fly independently implement terrain matching.This method does not need expensive terrain detection sensor and complex software algorithm, which has the characteristics of light weight and low difficulty of application.Through on-the-spot flight test, verify the validity and feasibility of the method.