Recovery and guidance technology of collision network based on multi-source information fusion

To solve the problem of low precision of pose estimation and poor anti-jamming in the recovery process of small Shipborne UAV, a multi-sensor navigation scheme was proposed, based on vision / IMU / GPS fusion. Firstly, an integrated navigation scheme of multi-sensor fusion in collision recovery guidance was proposed. GPS is used for long-distance guidance. Vision / IMU / GPS fusion guidance is used in approach phase. GPS and visual information are fused based on extended Kalman filter to obtaion position information. IMU and visual information are fused based on least square method to obtain the optimal attitude information. According to this method, the optimal pose information is obtained to improve the guidance accuracy and the success rate of net collision recovery.The simulation results show that the guidance deviation is reduced by 30% compared with the unfused data.

Abstract licence: CC BY

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