基于模糊逻辑的无人机定位系统设计

Design of UAV Positioning System Based on Fuzzy Logic

摘要:

针对无人机定位精度问题,硬件设计采用模块化设计思想,以STM32系列的微控制器为核心,以微机械传感器和GPS 模块为基础,组成无人机组合导航系统；软件提出了基于“模糊逻辑”的加速度区间自适应算法,修正惯导定位误差随时间快速积累、GPS发射信号受阻,造成的连续定位能力和精度较差的问题,保证了系统定位精度,为小型自主起降固定翼无人机、多旋翼无人机定位奠定基础。

Abstract:

Aiming at the problem of UAV positioning accuracy, the hardware uses modular design idea to design a integrated navigation system, based on micro mechanical sensor and GPS module, with STM32 series microcontroller as the core. Software is put forward acceleration interval adaptive algorithm based on the “fuzzy logic” to ensure the accuracy of the positioning system by correcting the INS positioning error with time fast accumulation and sloving the problem of the ability of continuous positioning and poor accuracy when the GPS transmit signal is blocked. The design lays the orientation foundation for small autonomous takeoff and landing of a fixed wing UAV and multi rotor UAV.