研究LiDAR辅助优化算法用于eVTOL的地形辅助导航
Guangming Zhang1, Jing Zhou1, Zhonghang Duan1
1School of Flight Technology, Civil Aviation Flight University of China, Guanghan 618307, China.
Sensors (Basel, Switzerland)
|September 27, 2025
概括
本研究介绍了一种基于LiDAR的地形匹配算法,用于在无GPS城市地区精确导航电动垂直起降 (eVTOL) 飞机. 新方法显著提高了在充满挑战的环境中定位准确性和稳定性.
科学领域:
- 机器人技术和自主系统
- 地理空间导航的导航
- 航空航天工程 航空航天工程
背景情况:
- 城市低海拔环境对电动垂直起降 (eVTOL) 飞机导航构成重大挑战,原因是全球导航卫星系统 (GNSS) 信号拒绝和复杂的地形.
- 惯性导航系统 (INS) 遭受累积的错误,需要强大的增强精确定位.
研究的目的:
- 开发一个高精度的导航算法,用于GNSS被拒绝的城市环境中的eVTOL.
- 为了利用光检测和射程 (LiDAR) 数据进行基于地形的导航和纠正INS错误.
主要方法:
- 一个新的地形匹配优化算法,利用LiDAR点云数据构建数字高度模型 (DEM).
- 纳入关键地形区域的增强特征描述.
- 实施基于自适应性随机样本共识 (RANSAC) 的机制,用于检测错位和纠正INS错误.
主要成果:
- 拟议的算法在复杂的城市峡谷模拟中实现了优于2米的定位精度.
- 与传统的SIFT-RANSAC和SURF-RANSAC方法相比,其准确性分别提高了25.0%和31.4%.
- 在95%的信心水平下,实现了90.4%的特征匹配准确率和96.8%的本地化成功率.
结论:
- 基于LiDAR的地形匹配算法显著提高了eVTOL在具有挑战性的低海拔城市环境中的导航和定位精度和稳定性.
- 这种方法为精确的eVTOL操作提供了可行的解决方案,其中GNSS是不可靠的.
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