小型无人机自动驾驶仪技术

6200712JournalofChineselnertialTechnologyVol.15No.6Dee.2007:10056734(2007)06065506,(,100083):,MIMU,,,,;,,MIMU:;;;::U6.1:ADeveloPmentofautoPilotteehnologyofsmallUAVFANGJianeheng,ZHANGXiao(SehooloflnstrumentationSeieneeandOPtoeleetroniesEngineering,BeijingUniversityofAeronautiesandAstronanties,Beijing100083,China)Abstraet:Inreeentyears,USAandsomeotherwesterneountrieshaveinvestedalotoffundintheresearehofsmallautoPilotandjtskerneldevjeessuehasMIMLI.Andthjsmakestheaceuracyinereasequiekly.InChintheresearehofsmallautopilotstartedratherlate,andtheaceuraey15ratherlowerthanabroad.ThepaPerexPoundsthemostrePresentativesmallautoPilotsaroundtheworld,anddiseussesthemfromfunetion,strueture,comPoseandPreeision.Theresultshowsthattheresearehneedsfurtherstudiesonthefieldsofdynamiesmodeling,autonomousnavigationandautonomouseontrolwiththeeombinationoftheeharacteristieofsmallUAV.Furthermore,toinereasethePrecisionofsmal]autoPilotinessenee,thePreeisionofkerne]devieesuchasMIMUmustbeinereasedandithasbeeomeanimPortantdeveloPmentdireetion.Keywords:autoPilot:smallUAV:inertialnavigation:iniegratednavigation;autonomousflight,(SmallUAV),,,,,,[2j,520,4500,2.8,13,,PDA(),{3]:20071012;:20071105:(D2120060013):(1965),,,,,Emai:fanianeheng@buaaedun6:659(:),,461,MEMSMEMSGPS[;l,[,0],,,AP50XL50XL,UAVFlightSystemsIne.[AP50XL,GPS,()150xL2GroundPilotIltm,Fig.l50xLautopilotrig2.Groundstation50areeroundPiot-lltm:lw,409,40mmX47~XZImm,AP50xL,(:),(:)GroundPilotIltm1.2Kestrel2.22KestrelTMAutilotv2.22(MAv),ProeerusTechnologies112],piggybaek,,,3Kestrel2.224PiccoloPlusF193Kestrel2.22autoPilotFig4PieeoloPlusautoPilotKestreI2228(AT56C55,29MHz),MEMSIMU320,KestreI2.22,,O.77W,3.3vsv,500mAf4,GPS4,,8179,J51mm/35mm\12mm6601.3Pieeo}0PluspieeoloPluseloudeaPehnoogyxne.[,,]PieeoloPlusMPC555(40MHz,448KFlash,26KSRAM),GPSPiccoloPlus,,,sw(),2129,122nimX6xnunx39mrnPiccofoPlus,,(),Picoofo30,314641.4flightTEKflightTEKGenevaAerospace,,[llfiightTEKGeneva,GPSS,vAcs(variableAutonomyControlSystem),flightTEKAMDSC2200(300MHz),10looM,GPSIMU,Kalman,3,16.5w,5%g,119Inmx95mrnx59mmflightTEKVAcs,,,;(,)flightTEKIMU(),MEMSIMU,IMu,flightTEK1.5MP2028MP2028MieroPilotMieroPilotUAV[ls,MicroPilotuAv,MPZO283GPS500klll,12ooom,150(o)/s,,MPZo286MP2028,.n,,,*,,,+Fig.6MP2028autoPilot(289,100mmx40mmxlsmm,o.gw),Mp2028GPS,MP20281000,GPS,6GSlllGS111AihenaTeehnologies,Inc.6]7GSlll8GS511FigGSlllautopilotFig.8GS5llautoPilot6:661GSINSGPS,GS,,GSlll50100Hz,200()/s,10gn,150,90,180,0.3Kalman,4.5W,7719,140mmx127mmx64mmGSlllGPSAS,GSll,GSlll15,1.7GS511GssllAihenaTechnologies,Inc.7]INs/GPs/,,GssllIMU,1(o)/hGS5ll50100Hz,1000(o)/s,50gn,180,90,180GPS,06,0.1Z000oh(2)27229,153mmxI53mmxI53mmGssxl,GSSll,1.8MNAV100CAMNAv100cAcrossbowTechnology,Inc]GPS,MAVIOOCA,,/MNAVlooCA2~100Hz,150()/s,0.8w,339,9MNAvloocA10wePilotl00057mm/45mm/llnunFig.gMAV100CAautoPIlotFig.IOWePIlotI000autoPIlot1.9WePilot1000WePifotl00oweControlAG[9],WePilotl000PXA25532CPU,32MFlash64MSDRAM,WePilot100OGPSIMU100(o)/s,2gn,3m,WePilot1000,5.4w,10209,120mnxl54mmxl25m1.10ComPaNav2eompav2vl.TEngineeringombH20J,,CompaNav2,11FigcompaNav211ComPaNav2autoPilot662CompaNav2GNsSKalman,CompaNav2TeKnoldeveled,,GNSSIMU,GNSSCompaNav2150(o)/s,10gn,0360,900,1800GPS,0.2,0.4ZW,1209,80mmx47nunxl0Inln2,2.1MGNC3MGNC3la,2,]MGNC3AMg32CPU,200MIPS48MFlash%MSDRAM,MGNC3INSGPS,3.5w,2509,180Inmx70~x53~MGNC3Kalman,,MGNC350Hz,250()/s,1,180,90,180,12MGNC313MGNC3Fig.12BUAAMGNC3autopilotFig.13GroundstationsoftwareforMGNC3l,1.5Kalman,,MGNC32.21FLY40iFLY4O]iFLY40,CANiFLY403CPU,MHz,/,l.Zw,1579,35~x35Inln120mmiFLYGPS,3,,,,,,,,(MEMS)6:663,,(Referenees):[l]EricW.Frew.Flightdemonstrationsofseldireetedeollaborativenavigationofsmallunmannedaircraft[ClAIAA3rdUnmannedUnlimitedTechniealConferenee,WorkshoPandExhibit.Chieago,Illinois.2004:346352.[2]RyanA,ZennaroM,HowellA,SenguPtaR,HedriekJK.AnoverviewofemergingresultsincooPerativeUAVeontrol[C]//43rdIEEEConferenceonDeeisionandCorol,2004:602607.13]ZHANGXiao,FANGJianeheng.DesignoflowPower,higheaPabilityGNCsystemofmicrounmannedaerialvehiele[C]//AIAAGuidance,Navigation,andControlConferenee,2005:44734483.[4]MetniN,PflimlinJM,HamelT,SoueresRAttitudeandgyrobiasestimationforaVTOLUAVfJ].ControlEngineeringPraetiee,2006,14:15111520.[5]KONGXiaoying.INSalgorithmusingquaternionmodelforlowcostIMU[J].RobotiesandAutonomousSystems,2004,46:221246.[0],,.[J].,2004,26(3):418422.TANGQiang,ZHUZhiqiang,NGJianyuan.Surveyofforeignresearehesonautonomousfiighteontrolforunmannedaerialvehieles[J].SystemsEngineeringandElectronies,2004,26(3):418422.[71SergiodeLaParra,AngelJ.LowcostnavigatlonsystemforUAVsJ].AerosPaceSeieneeandTeehnology,2005,9(6):504516.[8]SungKyUngHong.FuzZylogiebasedelosedlooPstraPdownattitudesystemforunmannedaerialvehicle(UAV)[J].SensorsandAetuatorsA,2003,107:10)118.[9]Lobo,J.,Dias,J.VisionandinertialsensoreooPerationusinggravityasavertiealrefereneeIJ].IEEETransactionsonPattemAnalysisandMachineIntelligenee,2003,25:15971608.[10]Rehbinder,H.,Hu,X.Driftfreeattitudeestimationforaeeeleratedrigidbodies[J].Automatie2004,40:653659.[UAVFlightSystems,Inc.AP50XLAutoPilotEB/OL].ww.UAVFlighteo