【电信学】【2002】基于GPS的微型飞行器导航系统设计与实现

本文为美国佛罗里达大学（作者：SCOTT M. KANOWITZ）的硕士论文，共47页。

微型飞行器（MAV）在军事和民用监视、侦察领域正变得越来越流行；然而，由于体积小，它们的不稳定性使得它们只对少数飞行员有用。提出了一种用于微型飞行器自主飞行的GPS导航系统。在这一领域的前期工作已经提出了一种基于视觉的地平线跟踪算法，能够在用户输入的情况下进行持续的水平飞行，我们的目标是利用GPS接收机的信息对该飞行系统进行改进。本文首先介绍了当前基于视觉的导航系统，并讨论了其局限性。接下来我们讨论了对GPS导航系统的改进建议。然后介绍了导航控制系统的硬件系统设计和软件算法。基于GPS和视觉的导航系统已经成功在佛罗里达大学的多个地面模拟设备中集成和测试。

Micro air vehicles (MAVs) are becoming vastly popular in the areas of surveillance andreconnaissancefor military and civilian use; however, their instability due to their smallsize ren-ders them useful to only a handful of pilots. We propose implementing a GPS-based navigationsystem for use in autonomous flightof micro air vehicles. Previous efforts in this area have pro-duced a vision-basedhorizon tracking algorithm capable of sustained level flight with userinput.Our goal is to improve on this flight system using information from a GPSreceiver. In this thesiswe first introduce the current vision-based navigationsystem and discuss its limitations. We nextdiscuss the proposed improvements tothe navigation system through GPS. Then, we describe thedesign of the hardwaresystem and software algorithms for navigation and control. The GPS-andvision-based navigation system has been successfully integrated and tested in multiple ground-based simulations at the University ofFlorida.

1.     引言
   

2.     系统概述
   

3.     轻量级的GPS导航系统
   

4.     实验结果
   

5.     展望与讨论
   

附录 电路原理图

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