For the high-precision positioning requirements of UAV formation cooperative operation,a distributed control system based on RTK technology is proposed in this paper.By using the U-blox F9P GNSS module to build an RTK...For the high-precision positioning requirements of UAV formation cooperative operation,a distributed control system based on RTK technology is proposed in this paper.By using the U-blox F9P GNSS module to build an RTK base station/mobile terminal,combined with Pixhawk 6C flight control and MAVESP8266 communication module,centimeter-level(<2 cm)positioning accuracy is achieved.The system adopts the“centralized planning distributed execution”architecture,transmits RTCM differential data and MAVLink messages through the UDP protocol,and integrates ROS to realize status information subscription.Experiments show that the system can effectively support large area surveying and mapping and other complex tasks,and significantly improve the autonomy and reliability of formation operations.展开更多
1背景近年来,随着自动驾驶技术的不断进步与发展,智能车辆在军事和民用领域的重要性逐渐凸显出来。而在复杂环境下的精确定位是智能化无人系统完成各类任务的前提,如何实现全局高精度定位一直都是当前研究的热点。目前融合卫星导航系统(...1背景近年来,随着自动驾驶技术的不断进步与发展,智能车辆在军事和民用领域的重要性逐渐凸显出来。而在复杂环境下的精确定位是智能化无人系统完成各类任务的前提,如何实现全局高精度定位一直都是当前研究的热点。目前融合卫星导航系统(Real Time Kinematic,即RTK)与惯性导航系统(Inertial Navigation System,即INS)是针对车载场景最广泛和可靠的方案之一。展开更多
基金The 2023 Scientific and Technological Project in Henan Province of China(Grant No.232102220098)。
文摘For the high-precision positioning requirements of UAV formation cooperative operation,a distributed control system based on RTK technology is proposed in this paper.By using the U-blox F9P GNSS module to build an RTK base station/mobile terminal,combined with Pixhawk 6C flight control and MAVESP8266 communication module,centimeter-level(<2 cm)positioning accuracy is achieved.The system adopts the“centralized planning distributed execution”architecture,transmits RTCM differential data and MAVLink messages through the UDP protocol,and integrates ROS to realize status information subscription.Experiments show that the system can effectively support large area surveying and mapping and other complex tasks,and significantly improve the autonomy and reliability of formation operations.
文摘1背景近年来,随着自动驾驶技术的不断进步与发展,智能车辆在军事和民用领域的重要性逐渐凸显出来。而在复杂环境下的精确定位是智能化无人系统完成各类任务的前提,如何实现全局高精度定位一直都是当前研究的热点。目前融合卫星导航系统(Real Time Kinematic,即RTK)与惯性导航系统(Inertial Navigation System,即INS)是针对车载场景最广泛和可靠的方案之一。
