Description: UAV导航及控制,是老外编写的一个源代码开放程序-UAV navigation and control is a foreigner prepared by the open source process Platform: |
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Author:firstliu |
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Description: 西北工业大学博士论文：小型无人机航迹规划及组合导航关键技术研究，是研究组合导航的很好的参考资料-study on the Key Techniques of Trajectory planning and Integrated Navigation of UAV.A Dissertation submitted to
Northwestern Polytechnical University
in Partial Fulfillment of the Requirement for the Degree of Doctor of Philosophy
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Author:zhuxq |
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Description: The open source project DSP_INS is an inertial navigation system on the TI DSP
platform TMS320F28335 with MEMS inertial sensors and commercial GPS module. Inertial
sensors are actually used only for estimating attitude, heading and velocity.
Position information totally comes from GPS (see Q2 in FAQ part). Currently the
MEMS IMU (Inertial Measurement Unit) ADIS16355 and GPS module u-blox LEA-5H
are supported. DSP_INS also reads magnetic field data from HONEYWELL HMC1051/1052.
You can also use the latest IMU module ADIS16405, which also contains magnetic field
sensors.
There is a 10-order extended Kalman filter in DSP_INS, which takes angular velocity,
acceleration, magnetic field, and GPS velocity as inputs. It provides outputs
including angular velocity, acceleration, attitude, heading, velocity, and position
(from GPS) every 10 milliseconds. DSP_INS is proved to be effective and reliable in
several robot and UAV projects. Platform: |
Size: 1682432 |
Author:snthej |
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Description: airborne inertial-SLAM 是目前无人机在未知环境中实现导航的重要手段。-airborne inertial-SLAM is very important for UAV navigation in unknown environment. Platform: |
Size: 2247680 |
Author:Shao shihua |
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Description: 四旋翼无人直升机飞行控制系统的研究与设计，南京理工的一篇硕士论文，研究得详细，推荐的参考资料-Theestablishment ofa perfec our-rotorunmanned helicopterfight control system platform will be helpful
to further expand on four-rotor unmanned
helicoptel"flight navigation research, control algorithm design，and control
system development．The subject lays
a solid foundation for further research on anew type of multi-purpose unmanned aerial vehicle(UAV) which would meet different conditions． Platform: |
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Author:顺星 |
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Description: 迅速壁障前进，分为三种情况讨论，可以快速简单的解决壁障问题-Obstacle avoidance is one of the most challenging problems for the topic of UAV indoor navigation. In
this paper, an indoor obstacle avoidance strategy based on Scanning Laser Range Finder (SLRF) is developed, so
that high-level flight commands and flight paths can be generated for an unmanned coaxial rotorcraft in real time.
The developed strategy comprises three flight modes including hovering turn, forward flight and gate exploration.
During flight, the UAV can switch from one mode to another in the presence of obstacles according to the analysis
of SLRF measurements. Both simulations and real experiments have been conducted to validate the proposed
strategy. The test results have successfully demonstrated that the method is feasible and effective. Platform: |
Size: 68608 |
Author:baizhijun |
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Description: JD-NS01组合导航系统集成了三轴MEMS陀螺、三轴MEMS加速度计、三轴磁力计、温度传感器、10HzGPS、高精度AD，高性能ARM处理器。所有传感器均经过温度补偿和标定，采用先进数据融合技术，可自动校正内部的全球磁场模型，可在静态、动态等状态下高精度测量载体的姿态角（俯仰、横滚）、航向角、位置及运动速度等信息。
本产品具有多个对外通信接口，多个控制输入输出接口及AD输入接口，平台开放自带导航SDK开发包，适合在各种无人机、无人车、无人船、机器人、云台等运动载体上自主开发控制算法。
本产品自带记录仪记录数据，便于用户事后对实验数据进行分析。
本产品亦可作为独立的传感器测量模块精确测量采集用户所需数据。-JD-NS01 integrated navigation system integrates three axis MEMS gyro, three axis MEMS accelerometer, three axis magnetometer, temperature sensor, 10HzGPS, high precision AD, high performance ARM processor. All sensors were after temperature compensation and calibration, using advanced data fusion technology, automatic correction of the internal model of global magnetic field, under the state of static, dynamic and high precision measurement of carrier attitude angle (pitch, roll, yaw angle, position and velocity information.
The product has a plurality of external communication interface, a plurality of control input output interface and ad input interface, open platform to bring their own navigation SDK, for in a variety of UAV, unmanned vehicles, unmanned ship, robot, PTZ movement carrier independent development control algorithm.
The product comes with a recorder to record data, to facilitate users to analyze the experimental data after the event.
The product can also be used as Platform: |
Size: 158720 |
Author:黄磊 |
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Description: 针对小型无人机在无卫星导航信号条件下的导航问题, 结合光流及地标定位设计了使用摄像头、惯性测量器件、超声测距仪等传感器融合的无人机室内导航方法. 文章使用补偿角速率的光流微分法计算帧间像素点小位移, 并用前后误差算法提取精度较高的点, 避免像素点跟踪错误, 提高了光流测速的精度 对得到的光流场用均值漂移算法进行寻优, 得到光流场直方图峰值, 以此计算光流速度. 本文提出了无累积误差的连续地标定位算法, 实时测量无人机位置. 通过多速率卡尔曼滤波器对观测周期不一致的位置、速度信息进行最优估计. 在搭建的八旋翼无人机平台上试验, 将位置与速度测量结果分别与激光和PX4FLOW数据对比, 结果表明该导航方法可以有效抑制定位跳变与光流测量噪声误差, 给出精确的位置与速度估计.
-Problems for the Navigation satellite navigation signals in the absence of conditions, and in conjunction with optical flow landmark UAV design indoor navigation positioning method using the camera, inertial measurement device, an ultrasonic range finder sensor fusion article using the compensation angle computing optical flow rate of the inter-pixel differentiation small displacements, and extracted with high precision before and after the point of error algorithm, to avoid the tracking error pixel, improve the accuracy of optical flow speed optical flow field obtained for the mean shift algorithm optimization, the histogram peak optical flow, in order to calculate the optical flow velocity. in this paper, the landmark location algorithm continuously accumulated error is measured in real time the position of the UAV by multirate Kalman filter observation period inconsistent positions , optimal estimation speed information. tested on eight rotor UAV platform structures, the position a Platform: |
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Author:lou tayzan |
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Search - NAVIGATION FOR UAV