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中文摘要：
导航系统的完好性及可用性是微小型无人飞行器实现自主可靠飞行的重要保障.本文设计了基于ARM处理器的四旋翼飞行实验平台,提出一种采用MEMS微惯性器件、磁强计、GPS、光流图像传感器及气压计的多信息融合导航方案,针对多传感器数据更新不一致的问题,提出了时间更新和量测更新分离的异步滤波方法.针对微小型四旋翼无人飞行器的易受环境影响和多信息数据融合的非线性特点,研究了Sigma点卡尔曼滤波器（Sigma-point Kalman filter,SPKF）的应用,构建了一种新型的四旋翼飞行器微型多信息导航系统.实验表明,该系统在静态和动态飞行环境下可对飞行器的姿态、速度和位置进行可靠估计和量测,能够保证四旋翼飞行器自主飞行的精度和可靠性,满足多种任务需求.
英文摘要：
The integrity and usability of the navigation system are important safeguards to small unmanned aerial vehicles＇ autonomous flight.A quadrotor aircraft with ARM microprocessor is designed.A multi-information fusion navigation scheme is proposed,which consists of micro-electro mechanical system （MEMS） inertial components,magnetometers,GPS,optic-flow imaging sensor and barometer.And an asynchronous centralized filter method is designed for separating the time update period and the measurement update period.According to the nonlinear characteristics of the navigation scheme,a nonlinear Kalman filter based on Sigma-point Kalman filter（SPKF） is proposed.In all,a micro multi-information navigation system of the quadrotor aircraft is built.Experiments are carried out and the results show that the designed navigation system can supply good attitude,velocity and position reference both in a static-state test and in a dynamic flight test.The navigation system can meet the accuracy and reliability requirements of the quadrotor aircraft under different flight tasks.
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Optical flow-aided navigation for UAV: A novel information fusion of integrated MEMS navigation syst
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