基于自动导航的旋翼式微小型无人机农作物遥感信息解析方法

项目名称： 基于自动导航的旋翼式微小型无人机农作物遥感信息解析方法

项目编号： No.31501218

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 农业科学

项目作者： 朱航

作者单位： 吉林大学

项目金额： 20万元

中文摘要： 旋翼式微小型无人机具有结构紧凑、成本低、灵活性高、获取数据快速等特点，是农田作物信息快速获取的主要平台。但受微小型无人机控制系统稳定性和机载自动导航系统精度的限制，如何快速准确地调整飞机位置、姿态使被测目标始终处于监测视野中是微小型无人机这一遥感平台能否被广泛应用在精确农业研究领域的关键技术。本项目以自动导航的旋翼式微小型无人机为研究对象，建立其定点悬停作业状态下的三自由度动力学模型；利用多传感器融合算法、扩展卡尔曼滤波算法实现对微小型无人机位置、姿态校正控制；采用人工神经网络建立自动导航位置、姿态补偿推理规则，为微小型无人机控制系统提供准确的状态信息。在此基础上提出一种基于改进粒子群算法的遥感信息波长优选方法，实现遥感光谱信息后处理数据解析精度。本项目的有效实施，将提供一种全新的基于自动导航的微小型无人机遥感信息获取平台及数据解析方法，将对农田作物监测信息化发展有积极的推动作用。

中文关键词： 旋翼式微小型无人机；自动导航系统；动力学建模；遥感；农作物信息监测

英文摘要： Micro multirotor unmanned aerial vehicle (UAV) is characterized with compact, low-cost, and high flexibility and is a main platform for rapid access to information on field crops. However, due to the limitation of the stability of Micro UAV control system and the accuracy of automatic navigation system, the problem to be solved is how to adjust the aircraft position quickly and accurately so that the target is always in the line of sight of a camera or other monitoring system. It is a critical technology for Micro UAV platform to become widely used in precision agriculture. The objectives of this current project are to 1) establish a three-dimensional dynamic model of a hovering Micro UAV; 2) develop multi-sensor fusion algorithm and the extended Kalman filter algorithm for Micro UAV position and posture correction control; 3) establish automatic navigation position andattitude compensation inference rulethrough artificial neural network in order to provide accurate status information for Micro UAV control system. Based on the achievement of three objectives abovementioned, we propose an optimum selectionmethod of spectral wavelengths based on an improved particle swarm algorithm to improve analytical resolution of post-processed remotely-sensed spectral data.The effective implementation of this project will provide a fairly new platform to access remote sensing information based on an autonomousMicro UAV and data analysis method. It will accelerate the development of information technology in field crop monitoring.

英文关键词： Micro multi-rotor unmanned aerial vehicle ;Autonomous navigation system;Dynamic modeling;Remote sensing ;Crop information monitoring