面向货物运输的移动平台设计与无人直升机追踪控制

由于无人直升机具有垂直起降、机动性好的特点，使其可用于移动平台之间的货物运输，因此，提出了无人 直升机跟踪移动平台的货物运输方法。设计了一套用于无人直升机追踪实验的动平台，动平台上可放置物品，无人直升机在追踪动平台过程中同时完成物品的拾起和码放。动平台系统由移动小车平台、运动控制器、引导装置以及地面监视软件等组成，采用MEMS-SINS/GPS组合导航系统作为引导装置的核心部件，完成对移动小车平台的位置和速度估计。提出了由单点GPS测量点提供多个目标点位置的方法，可使无人直升机方便快捷地知道需要拾起和码放物品的目标点。设计开发了一套操作简便、显示友好的地面监控软件，辅助移动平台正常运行，能有效监控引导装置与无人直升机的通信。

Design of Mobile Platform and Tracking Control of Unmanned Helicopter for Cargo Transportation

Considering that the vertical takeoff and landing(VTOL) unmanned helicopter has good maneuverability, a method for tracking mobile platform and transporting cargo by unmanned helicopter is presented. A mobile platform is designed for tracking experiment by the unmanned helicopter. The cargo, placed on the mobile platform, can be picked up and stacked by unmanned helicopter while tracking the platform. The mobile platform system consists of a mobile car platform, a motion controller, a guiding device and a ground control system (GCS). The integrated navigation system based on MEMS-SINS/GPS is the core of the guiding device to estimate the position and the velocity of mobile car platform. Moreover, a method is proposed for providing multiple target locations by single GPS antenna position , which helps the unmanned helicopter to pick up and stack goods conveniently. A set of GCS with kind interface is also developed to monitor the communication between the guide device and the unmanned helicopter.