文档介绍：南京航空航天大学硕士论文
摘要
微型飞行器(Micro Aerial Vehicle,以下简称 MAV)潜在的应用前景,使
其在较短的时间内就吸引了许多研究者的注意,并很快成为当今国际上一个新的
研究热点。飞行控制和导航系统是微型飞行器中必不可少的重要设备。
目前,MAV 导航系统分为四种,其中最为成熟的是 GPS 导航系统;图像导
航系统因其具有很多适用 MAV 系统的优点而成为未来 MAV 导航控制的发展方
向。由于 MAV 微小型的特点,实现导航必须采用全新的技术,复合导航就是其
有效技术之一。因为 MAV 对重量、体积、功耗等的严格要求,本文采用了 GPS/
图像复合导航方式。
根据课题的来源和要求,本文为单目图像导航任务提供了一个以 FPGA 和四
片 DSP 为核心的多 DSP 并行的地面导航系统。论文先从硬件方面对该系统进行
了详细的讨论,其中 FPGA 的使用极大地提高了系统的集成度和灵活性,并结合
多 DSP 处理器使实时导航成为可能。其次在对系统所采用的 GPS/图像复合导航
算法详细讨论的基础上,D 摄像头、LCD 显示器一起
模拟了 MAV 复合导航的简单环境,进行了复合导航算法的在线仿真。通过一系
列的实验分析,设计了一套复合导航策略,并且论证了该系统在一定条件下,能
够有效地完成 MAV 实时导航任务。同时经过改进之后,可以实现每秒修正航向
一次的目的。
关键词:微型飞行器,复合导航,图像导航,GPS 导航,实时,多 DSP,FPGA
I
基于多 DSP 的图像与 GPS 信息的 MAV 复合导航技术研究
Abstract
Potential application of Micro Air Vehicle(MAV) makes it a new international
research hotspot nowadays. Flight control and navigation system are necessary and
important devices of MAV.
In the present time, there are four kinds of navigation systems on MAV. GPS
navigation techology is most widely used. Because of many advantages, image
navigation has e a key technology of MAV research. MAV has the
characteristic of small size, low weight, small consumption of energy, so the request
for load is very strict. Thus, the integrated navigation system is explored, using the
GPS/Image instead of the GPS/INS.
Based on the origin and request of the project, a parallel ground navigation
system based on one FPGA and four DSP is designed to plish the monocular
image navigation. First, the hardware has been discussed in detail, in which the FPGA
makes the integration better and supplies the possibility of the real-time navigation to
MAV. Then, a laboratorial online simulation is based on navigation processing board,
CCD vidicon, LCD monitor. Through a series of experiments, an useful integrated
strategy is developed. Also by the GPS/Image integrated navigation algorithm, the
conclusion can be drawn that in some sense, the