针对无人机在地下室、隧道等GNSS拒止环境下无信号或定位精度不足、无法实现无人机的自主航路规划的问题,提出一种可应用于现有无人机的UWB高精度无人机定位系统。该系统采用对称双边双向测距算法,简化了计算复杂度,并引入第一路径功率与累积信道脉冲响应功率的比值来抑制非视距误差;设计了GNSS消息仿真模型,将本地坐标转换为标准化全球导航卫星系统电文以仿真GNSS接收器。实验结果表明,该系统实现了无人机在GNSS拒止环境下的高精度定位,定位均方根误差小于0.5 m,可靠性为99%。

Aiming at the problem that unmanned aerial vehicles (UAVs) have no signal or insufficient positioning accuracy in GNSS-denied environments such as basements and tunnels,and cannot realize autonomous route planning of UAVs,a UWB high-precision UAV positioning system that can be applied to existing UAVs is proposed.The symmetric bilateral bidirectional ranging algorithm is adopted in this system,which simplifies the computational complexity and introduces the ratio of the first path power to the cumulative channel impulse response power to suppress the NLOS error.A GNSS message simulation model is designed to convert the local coordinates into standardized GNSS messages to simulate GNSS receivers.The experiment results show that the system realizes the high-precision positioning of UAV in GNSS denial environment,and the root mean square error of positioning is less than 0.5 m,and the reliability is 99 %.