无人机机载激光多普勒测速仪研究与飞行验证

Abstract

Objective Unmanned aerial vehicles (UAVs) have emerged as a versatile platform for a wide range of civil applications, and offer flexibility and convenience in performing various tasks, like mapping, investigation, and patrolling. Accurate navigation information such as velocity and position is required to ensure the flight safety of UAVs. However, the global navigation satellite system (GNSS) is easily denied in urban environments due to the occlusion of tall buildings, which results in navigation information loss. Inertial navigation systems (INSs) are also hard to be relied on for longscale autonomous navigation as its error accumulates over time. Highprecision and independent velocity measurement methods will be beneficial for the navigation of UAVs. The laser Doppler velocimeter (LDV) has been applied to the integrated navigation of land vehicles improving localization accuracy. There is a bottleneck for LDV deployment on UAVs due to the limited working distance of LDV which is typically restricted to only a few meters. However, UAVs often operate at flight heights of dozens of meters, posing a challenge for LDV integration and utilization.