一种传感器融合方法来观察四旋翼的速度
José Ramón Meza-Ibarra1, Joaquín Martínez-Ulloa1, Luis Alfonso Moreno-Pacheco1
1Sección de Estudios de Posgrado, Escuela Superior de Ingeniería Mecánica y Eléctrica, Instituto Politécnico Nacional, Av. Instituto Politécnico Nacional, S/N, Col. Lindavista, Ciudad de México 07738, Mexico.
Sensors (Basel, Switzerland)
|June 19, 2024
概括
本研究介绍了一种用于无人机 (UAV) 的新型转换速度观察器,将惯性和视觉数据融合在一起,用于在没有GPS的情况下增强自主导航. 观察员确保准确的速度估计,以提高室内飞行能力.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 计算机视觉 计算机视觉
背景情况:
- 越来越多的无人飞行器 (UAV) 的部署需要在它们的自主导航方面取得进展,特别是在GPS被拒绝的环境中,如室内空间.
- 视觉测距为传统定位系统 (如GPS) 提供了一个有希望的替代方案,以实现可靠的无人机导航.
- 四旋翼平台需要复杂的方法来准确地估计状态,以实现可靠的自主飞行.
研究的目的:
- 开发和验证用于四旋翼无人机的转移速度观察器.
- 通过融合惯性和视觉传感器测量来增强自主导航能力.
- 为室内环境提供适合GPS的独立导航解决方案.
主要方法:
- 使用沉浸和不变观测器设计技术设计了一个转换速度观测器.
- 观察者将来自惯性测量单元 (IMU) 和视觉传感器的数据融合在一起.
- 利亚普诺夫稳定理论被用来正式证明观察者的误差与零的趋同.
主要成果:
- 拟议的观察者通过整合惯性和视觉数据,成功估计了四旋翼的转移速度.
- 数字模拟证明了观察者在实现准确的速度估计方面的有效性.
- 沉浸和不变技术为观察者合成提供了一个系统的方法.
结论:
- 开发的观察器增强了无人机的自主导航,特别是在GPS有限的条件下.
- 惯性和视觉测量的融合为四旋翼旋转器速度估计提供了一个强大的解决方案.
- 基于Lyapunov的稳定性分析保证了观察者的性能和可靠性.
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