无人直升机目标定位系统设计

为了提高无人直升机在自主飞行作业时的精确性,本文设计了一套获取无人直升机相对于任务目标飞行状态的测量系统。该系统采用机载激光雷达对无人直升机周围环境进行扫描建模,使用STM32作为微控制器设计硬件电路实现系统功能。提出一种针对性算法,对扫描范围内的环境数据进行处理与分析并解算出飞行状态。此外,还使用Labview进行上位机软件的开发,可以实时显示该系统测量得到的状态结果。实际测试结果表明,该系统可以准确获取无人直升机相对于任务目标的距离和方位角。

Target Localization System of Unmanned Helicopter

In order to improve the accuracy of orientation when unmanned helicopter is in autonomous flight and operation,a measurement system that could fetch flight states relative to mission target is designed. In the system,an airborne lidar is used to scan and model the surroundings,and a hardware circuit based on STM32 microcontroller is designed to realize all functions. Also,a specific algorithm that can process and analyze surroundings data and work out the states of unmanned helicopter is proposed. By a software programmed by Labview,flight states measured by the system can be displayed in real time. The experimental results prove that the measurement system can fetch the distance and azimuth of the unmanned helicopter relative to the mission target accurately.