胡海兵,汪国庆,赖重远,张结文

• 1:合肥工业大学光电技术研究院
• 2:江汉大学交叉学科研究院

摘要(Abstract)：

针对自主导航过程的预先避障和飞行控制中预判与控制,该文利用超声波检测距离原理对体小质轻、低空低速的小型无人机导航控制系统的自主避障功能进行了研究。小型无人机将AHRS信息采集与避障飞行控制分开设计为两部分相对独立的系统。两片DSP芯片分别实现姿态数据采集、处理和避障导航计算,有效降低了导航系统的计算复杂度,实时通信和数据处理更加流畅。飞行实验表明,无人机可以预判,及时规避障碍物和自主巡航,设计方案可靠稳定,可为民用小型无人机的设计与应用提供参考。

关键词(KeyWords)： 无人机;四旋翼;自主导航;避障;定位;超声波测距

Abstract:

Keywords:

基金项目(Foundation): 国家自然科学基金(61501208);; 江汉大学高层次人才科研启动经费项目(3003-06000040);; 湖北省高等学校优秀中青年科技创新团队计划项目(T201828)~~

作者(Author): 胡海兵,汪国庆,赖重远,张结文

DOI: 10.16652/j.issn.1004-373x.2018.22.033

参考文献(References)：

• [1]陈香,徐卫民,张学民,等.六旋翼无人机在天津应急测绘中的应用[J].测绘技术装备,2016,18(1):69-71.CHEN Xiang,XU Weimin,ZHANG Xuemin,et al. The application of the six-rotor UAV in emergency surveying and mapping in Tianjin[J]. Geomatics technology and equipment,2016,18(1):69-71.
• [2]陈天华,卢思翰.基于DSP的小型农用无人机导航控制系统设计[J].农业工程学报,2012,28(21):164-169.CHEN Tianhua,LU Sihan. Autonomous navigation control system of agricultural mini-unmaned aerial vehicles based on DSP[J]. Transactions of the Chinese Society of Agricultural Engineering,2012,28(21):164-169.
• [3]张垚,鲜斌,殷强,等.基于ARM处理器的四旋翼无人机自主控制系统研究[J].中国科学技术大学学报,2012,42(9):753-760.ZHANG Yao,XIAN Bin,YIN Qiang,et al. Autonomous control system for the quadrotor unmanned aerial vehicle based on ARM processors[J]. Journal of University of Science&Technology of China,2012,42(9):753-760.
• [4]吴涛,白茹,朱礼尧,等.基于卡尔曼滤波的航姿参考系统设计[J].传感技术学报,2016,29(4):531-535.WU Tao,BAI Ru,ZHU Liyao,et al. Design of AHRS based on Kalman filter[J]. Chinese journal of sensors&actuators,2016,29(4):531-535.
• [5]毕凯,李英成,丁晓波,等.轻小型无人机航摄技术现状及发展趋势[J].测绘通报,2015(3):27-31.BI Kai,LI Yingcheng,DING Xiaobo,et al. Aerial photogrammetric technology of light small UAV:status and trend of development[J]. Bulletin of surveying and mapping,2015(3):27-31.
• [6]段镇.无人机飞行控制系统若干关键技术研究[D].长春:中国科学院长春光学精密机械与物理研究所,2014.DUAN Zhen. Research on some key technologies of flight control system of UAV[D]. Changchun:Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,2014.
• [7] ETC2. XBEE-PROZB datasheet[EB/OL].[2016-02-12]. http://www.alldatasheet.com/view.jsp?Searchword=XBEE-PROZB.
• [8]曹建海,路长厚,韩旭东.基于单片机的超声波液位测量系统[J].仪表技术与传感器,2004(1):39-40.CAO Jianhai,LU Changhou,HAN Xudong. Intelligent system to measure liquid height by ultrasonic based on single-chip microcomputer[J]. Instrument technique&sensor,2004(1):39-40.
• [9]张逊逊,许宏科,朱旭.低空低速植保无人直升机避障控制系统设计[J].农业工程学报,2016,32(2):43-50.ZHANG Xunxun,XU Hongke,ZHU Xu. Design of obstacle avoidance control system for low altitude and low speed eppo unmanned helicopter[J]. Transactions of the Chinese Society of Agricultural Engineering,2016,32(2):43-50.
• [10]范卫刚,袁冬莉,王化会.基于双DSP的无人机导航系统设计[J].计算机测量与控制,2011,19(1):152-154.FAN Weigang, YUAN Dongli, WANG Huahui. Design of navigation system of UAV based on dual DSP[J]. Computer measurement&control,2011,19(1):152-154.
• [11]曹文君,赵祚喜,刘雄,等.一种单双目结合的全景避障测距方法[J].现代电子技术,2017,40(5):38-41.CAO Wenjun,ZHAO Zuoxi,LIU Xiong,et al. An omnidirectional obstacle avoidance range finding method combining binocular vision with monocular vision[J]. Modern electronics technique,2017,40(5):38-41.