An Integrated Navigation System For A Small UAV Using Low-Cost Sensors

摘要：

This paper describes the flight control and navigation system of a fixed-wing unmanned aerial vehicle with low cost sensors.Furthermore,an adaptive kalman filter algorithm with radial basic function neural network is proposed to improve attitude information performance.Based on the unmanned aerial vehicle situation information and error information,system adjusts the weights of the sensor information to get precise information.Moreover,a simple heading control algorithm used to realize position control.The effectiveness of the proposed methods is shown by a series of simulations and experiments.The small unmanned aerial vehicle can operate in the field and send back the environment information for the control center to improve emergency management efficiency.

作者: Xusheng Lei Jianhong Liang Song Wang Tianmiao Wang

作者单位: Center of Robotics Beijing University of Aeronautics and Astronautics 37 xuyuan road,Beijing,100083

会议类型: 国际会议

会议名称: 2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)

会议地点: 张家界

会议语种:英文

页码: 765-769

在线出版日期: 2008-06-20（万方平台首次上网日期，不代表论文的发表时间）