Title: Collision avoidance flight trajectory tracking method of UAV based on multi sensor fusion

Authors: Xiaoqiang Wang

Addresses: Chinese-German College of Engineering, Shanghai Technical Institute of Electronics and Information, Shanghai 201411, China

Abstract: In order to reduce the collision probability and flight trajectory tracking error of UAV collision avoidance, a new method of UAV collision avoidance flight trajectory tracking based on multi-sensor fusion is proposed in this paper. Firstly, a UAV multi-sensor platform is built. The sensors integrated in the platform include Pixhawk open-source flight controller, Raspberry Pi3, Swift Piksi Multi RTK-GPS GNSS receiver, and Garmin LiDAR Lite V3 laser radar. Secondly, Kalman filtering is used to denoise multi-sensor fusion data. Finally, through the UAV collision avoidance flight path sliding surface, the UAV collision avoidance flight path tracking function is constructed to complete the flight path tracking. The experimental results show that this method can reduce the tracking error of UAV flight path, and the maximum tracking error is less than 0.5 cm.

Keywords: multi sensor fusion; UAV collision avoidance; flight path tracking; Kalman filtering.

DOI: 10.1504/IJRIS.2024.138630

International Journal of Reasoning-based Intelligent Systems, 2024 Vol.16 No.2, pp.100 - 106

Received: 20 Oct 2022
Accepted: 22 Nov 2022
Published online: 18 May 2024 *

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