Research on UAV autonomous positioning system for system engineering

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

Abstract

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

CLC Number:

TP391

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.

Figures/Tables 9

Fig. 1 V-model of system engineering

Fig. 2 The interrelationships among the four principal design activities

Fig. 3 UAV autonomous positioning system

Fig. 4 Epipolar line search illustration

Fig. 5 IMU pre-integration diagram

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

Fig. 7 System composition

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

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

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