面向系统工程的无人机自主定位系统研究

doi:10.11996/JG.j.2095-302X.2024020363

图学学报 ›› 2024, Vol. 45 ›› Issue (2): 363-368.DOI: 10.11996/JG.j.2095-302X.2024020363

• 数字化设计与制造专刊 • 上一篇下一篇

面向系统工程的无人机自主定位系统研究

卢元杰(), 陈星伊, 苏大林, 孙唯()

中国航空工业集团公司沈阳飞机设计研究所，辽宁沈阳 110035

收稿日期:2024-02-10 修回日期:2024-03-12 出版日期:2024-04-30 发布日期:2024-04-30
通讯作者: 孙唯(1999-)，男，工程师，硕士。主要研究方向为图形图像处理、计算机视觉等。E-mail：2739499384@qq.com
作者简介:卢元杰(1982-)，男，高级工程师，硕士。主要研究方向为飞机总体设计与系统工程。E-mail：1849364929@qq.com

Research on UAV autonomous positioning system for system engineering

LU Yuanjie(), CHEN Xingyi, SU Dalin, SUN Wei()

Shenyang Aircraft Design and Research Institute, Aviation Industry Corporation of China, Shenyang Liaoning 110035, China

Received:2024-02-10 Revised:2024-03-12 Online:2024-04-30 Published:2024-04-30
Contact: SUN Wei (1999-), engineer, master. His main research interests cover graphic image processing, computer vision, etc. E-mail：2739499384@qq.com
About author:LU Yuanjie (1982-), senior engineer, master. His main research interests cover aircraft system design and system engineering. E-mail：1849364929@qq.com

摘要/Abstract

摘要：

系统工程是沟通各工程学科的桥梁，旨在设计和实现复杂系统时优化各个子系统以获得更好的系统行为能力，对无人机系统的设计研发具有重要的指导作用。在无人机系统的众多子系统当中，定位系统为无人机提供准确的位置信息，是后续实现导航和避障功能的基础。面向无人机系统工程，设计一种自主定位系统，包括多传感器系统建模、前端视觉惯性里程计、紧耦合后端优化算法和系统定位结果及环境地图输出4部分，实现在复杂环境下的无人机自主定位，并设计试验验证平台，验证定位系统精度和鲁棒性。实验结果表明，该无人机自主定位系统平均定位误差小于0.07 m，满足无人机系统工程设计需求。

关键词: 系统工程, 无人机, 惯性测量单元, 自主定位系统, 试验平台

Abstract:

System engineering is a bridge connecting various engineering disciplines. It aims to optimize each subsystem to obtain better system behavior ability when designing and implementing complex systems. It plays an important guiding role in the design and development of UAV systems. Among the many subsystems of the UAV system, the positioning system provides accurate location information for the UAV, which is the basis for subsequent navigation and obstacle avoidance functions. This paper designed an autonomous positioning system for UAV system engineering, including multi-sensor system modeling, front-end visual inertial odometry, tightly coupled back-end optimization algorithm, system positioning results and environment map output, thus realizing UAV autonomous positioning in complex environments. An experimental verification platform was designed to verify the accuracy and robustness of the positioning system. The experimental results showed that the average positioning error of the proposed UAV autonomous positioning system was less than 0.07 m, which met the requirements of UAV system engineering design.

Key words: system engineering, UAV, IMU, autonomous positioning system, test platform

中图分类号:

TP391

卢元杰, 陈星伊, 苏大林, 孙唯. 面向系统工程的无人机自主定位系统研究[J]. 图学学报, 2024, 45(2): 363-368.

LU Yuanjie, CHEN Xingyi, SU Dalin, SUN Wei. Research on UAV autonomous positioning system for system engineering[J]. Journal of Graphics, 2024, 45(2): 363-368.

图/表 9

图1 系统工程V模型

Fig. 1 V-model of system engineering

图2 4项主要设计活动之间的关系

Fig. 2 The interrelationships among the four principal design activities

图3 无人机自主定位系统

Fig. 3 UAV autonomous positioning system

图4 极线搜索示意图

Fig. 4 Epipolar line search illustration

图5 IMU预积分图解

Fig. 5 IMU pre-integration diagram

图6 滑动窗口边缘化示意图((a)次新帧是关键帧；(b)次新帧非关键帧)

Fig. 6 Sliding window edgelization diagram ((a) The next new frame is keyframe; (b) The next new frame is not keyframe)

图7 系统组成

Fig. 7 System composition

表1 多支路Transformer编码器对性能的影响

Table 1 Performance of multi-branch Transformer encoders

飞行轨迹	误差/m
飞行轨迹	Std	RMSE	Min	Median	Mean	Max
轨迹1	0.025	0.061	0.004	0.053	0.055	0.155
轨迹2	0.034	0.072	0.006	0.060	0.064	0.235

图8 定位结果轨迹图((a)轨迹1；(b)轨迹2)

Fig. 8 Positioning trajectory diagram ((a) Track 1; (b) Track 2)

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面向系统工程的无人机自主定位系统研究

Research on UAV autonomous positioning system for system engineering

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