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Instruments and Systems: Monitoring, Control, and Diagnostics

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Adaptive Navigation Complex With Correction from Short Radio Beacons for Multi-Rotor UAV
ZHANG XINKE, A.L. MASLENNIKOV, M.S. SELEZNEVA, K.A. NEUSYPIN

The paper the navigation complex for a multi-rotor unmanned aerial vehicle (MUAV), capable of providing the MUAV control system with sufficiently reliable and accurate information for landing on a moving base is considered. The navigation complex uses SINS+GNSS on the mobile base and on board the MUAV, an open radio channel between the moving base and the MUAV for the transmission navigation definitions, as well as a system of short-range radio beacons installed on the moving base and a radio receiver on board the MUAV. The algorithmic part of the navigation complex includes an adaptive Kalman filter and the idea of a federated Kalman filter. The computational experiments performed to assess the accuracy of the navigation complex showed the fundamental applicability of algorithmic solutions to ensure navigation of the MUAV in the approach mode and landing of the MUAV on a moving base.
Keywords: multi-rotor UAVs, UAVs, moving base, landing platform, adaptive Kalman filter.


DOI: 10.25791/pribor.9.2022.1362

Pp. 30-35.

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