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Lightweight hybrid visual-inertial odometry with closed-form zero velocity update

Chinese Journal of Aeronautics 2020年第12期33卷 3344-3359页

作者： QIU Xiaochen ZHANG Hai FU Wenxing School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Science and Technology on Aircraft Control Laboratory Beijing 100191China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing 100074China

Visual-Inertial Odometry(VIO) fuses measurements from camera and Inertial Measurement Unit(IMU) to achieve accumulative performance that is better than using individual *** VIO is an extended Kalman filter-based solution which augments features with long tracking length into the state vector of Multi-State Constraint Kalman Filter(MSCKF). In this paper, a novel hybrid VIO is proposed, which focuses on utilizing low-cost sensors while also considering both the computational efficiency and positioning precision. The proposed algorithm introduces several novel contributions. Firstly, by deducing an analytical error transition equation, onedimensional inverse depth parametrization is utilized to parametrize the augmented feature *** modification is shown to significantly improve the computational efficiency and numerical robustness, as a result achieving higher precision. Secondly, for better handling of the static scene,a novel closed-form Zero velocity UPda Te(ZUPT) method is proposed. ZUPT is modeled as a measurement update for the filter rather than forbidding propagation roughly, which has the advantage of correcting the overall state through correlation in the filter covariance matrix. Furthermore, online spatial and temporal calibration is also incorporated. Experiments are conducted on both public dataset and real data. The results demonstrate the effectiveness of the proposed solution by showing that its performance is better than the baseline and the state-of-the-art algorithms in terms of both efficiency and precision. A related software is open-sourced to benefit the community.

关键词： Inverse depth parametrization Kalman filter Online calibration Visual-inertial odometry Zero velocity update

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Evaluation method of UAV cluster simulation models with different granularity based on sensitivity analysis

Evaluation method of UAV cluster simulation models with diff...

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2019 IEEE International Conference on Unmanned systems, ICUS 2019

作者： Zhang, Qing Li, Jing Shen, Chao Science and Technology on Omplex-System Control and Intelligent-Agent Cooperation Laboratory Beijing China Beijing Electromechanical-Engineering Institute Beijing China

ISBN: (纸本)9781728137926

Simulation test evaluation of the unmanned aerial vehicle (UAV) cluster operational effectiveness requires the support of simulation models with different granularity levels such as precise, medium, and coarse levels. In order to ensure the confidence of the evaluation, difficulties in evaluating the effectiveness of different granularity simulation models of the UAV cluster need to be solved. Aiming at the problem that the existing evaluation methods are not fully applicable due to the constraints of a large number of actual flight data, this paper proposes the evaluation method of different granularity simulation models, completes the rationality analysis of the granularity partitioning of UAV cluster at three levels: precise, medium and coarse, and the rationality analysis of the support relationship between different granularity models. Based on the special input method, capability meta-models of the UAV cluster with different granularity are evaluated. The evaluation method of different granularity simulation models of the UAV cluster based on sensitivity analysis is proposed. The sensitivity factor extraction and simulation analysis of precise granularity in the motion layer, medium granularity in the perception layer, and coarse granularity in the decision layer are completed. The validity evaluation of the different granularity simulation models has laid a solid foundation for the simulation test evaluation of the UAV cluster operational effectiveness. © 2019 IEEE.

关键词： Sensitivity analysis

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Review of Formation control and Cooperative Guidance technology of Multiple Unmanned Aerial Vehicles

Review of Formation Control and Cooperative Guidance Technol...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Liu, Xinyu Hao, Mingrui Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9789811966125

Aiming at the research status of formation control and cooperative guidance technology of multi unmanned aircrafts, this paper introduces various methods of formation control technology and cooperative guidance technology. It also expounds the characteristics of formation control methods such as graph theory, leader-follower formation, behavior strategy, virtual structure, artificial potential field mode and consistency mode, as well as independent, centralized and distributed cooperative guidance methods. Then the application status and technical development of intelligent methods in multi vehicles formation control and cooperative guidance are introduced. At the same time, this paper compares the advantages and problems of various methods, and prospects the future development direction of this field. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Graph theory

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Collaborative Estimation of Multi-source Heterogeneous Moving Sensors for UAV Cluster 5th

Collaborative Estimation of Multi-source Heterogeneous Movin...

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5th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2021

作者： Yang, Xiangyu Song, Chuang Chen, Linxiu Hao, Mingrui Zhang, Hang Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9789811939976

In the cooperative combat mission of UAV cluster, the collaborative estimation of targets by airborne multi-source heterogeneous sensors can make the utmost of the multivariate detection performance of moving sensors placed in multiple spatial positions in complex confrontation environments, in order to deal with the problem of independent estimation failure of sensors carried by single aircraft under the multiple compound interference of non-cooperative targets. In this paper, the typical target motion model, estimation model and interference model are established, then a collaborative estimation method of airborne target detection sensors with different detection accuracy and different interference countermeasure capability is designed for each aircraft in the UAV cluster, based on spatial allocation strategy, nonlinear filtering, interference detection, consistency correlation and information fusion. It is verified by Monte Carlo simulation study that this method can guarantee the obtainment of continuous and accurate guidance information for each aircraft in the cluster, so as to improve the strike accuracy of each UAV and complete the strike mission. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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Cooperative Search Strategy of Multi-UAVs Based on Hexagonal Grid 7th

Cooperative Search Strategy of Multi-UAVs Based on Hexagonal...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Zhao, Hongyin Hao, Mingrui Zhang, Hang Dong, Xiaofei Liu, Yuting Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9789819733316

Aiming at the cooperative search problem in a wide-area unknown region, a cooperative search strategy of multi-UAVs based on hexagonal grid is proposed for the fairness of decision-making, This strategy is trained by reinforcement learning method, and adopts centralized training and distributed execution, and deals with the dynamic environment problem by fusing pheromone models. Simulation shows that the cooperative search algorithm has the functions of unknown region cooperative search and online threat avoidance replanning. Compared with the square grid training method, the reinforcement learning search algorithm based on the hexagonal grid after training expands the feasible directions in each decision planning cycle, which is more suitable for low-slow-small UAVs, and the performance is more stable after convergence. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Reinforcement learning

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Multiple UAVs Time-Cooperative Guidance Law Under Directed Communication Topologies

Multiple UAVs Time-Cooperative Guidance Law Under Directed C...

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International Conference on Guidance, Navigation and control, ICGNC 2020

作者： Lyu, Teng Xu, Cheng Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9789811581540

Collaborative guidance of multiple UAVs with directional communication topologies for directional targets is being researched. First, a new multi-UAV time-cooperative guidance model is established based on the relative motion equation of the UAV target. Next, based on the cooperative control theory of multi-agent systems, a rigorously proven distributed time cooperative guidance method is designed. This ensures that the impact times of multiple UAVs in a directional topology reach asymptotic consistency. After reaching the impact time consensus, all unmanned aerial vehicles use traditional PN guidance techniques to ensure that the UAV accurately hits the target without impacting the impact time consensus. Finally, the simulation results prove the effectiveness of the designed collaborative guidance method. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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Static Unstable STT Overload control on High-order Fully Actuated system Theory 6

Static Unstable STT Overload Control on High-order Fully Act...

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6th International Symposium on Autonomous systems, ISAS 2023

作者： Liu, Xinyu Hao, Mingrui Zhen, Yan Fan, Yu Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9798350316155

This article proposes a joint overload controller for pitch and yaw channels on the high-order fully actuated system theory for a nonlinear lateral and longitudinal static unstable STT aircraft model. Firstly, a second-order fully actuated system model for aircraft overload was derived, and an optimal control method for lateral and longitudinal overload was designed. Through mathematical simulation verification of this controller and traditional PID controller, it is shown that the PID control method has significant shortcomings in nonlinear aircraft with coupling. However, high-order fully actuated system theory control method can better adapt to nonlinear and static instability problems, achieve stable tracking of aircraft overload commands, and have better rapidity. © 2023 IEEE.

关键词： system theory

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Behavior-based cooperative control method for fixed-wing UAV swarm through a virtual tube considering safety constraints

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Chinese Journal of Aeronautics 2025年

作者： Siyi YUE Duo ZHENG Mingjun WEI Zhichen CHU Defu LIN School of Astronautics Engineering Beijing Institute of Technology Beijing 100081 China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Yungang Street Beijing 100074 China

Unmanned Aerial Vehicle (UAV) swarm collaboration enhances mission effectiveness. However, fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments. Aimed at the cooperative control problem of fixed-wing UAV swarm flights under the airspace constraints of a virtual tube in a complex environment, this paper proposes a behavior-based distributed control method for fixed-wing UAV swarm considering flight safety constraints. Considering the fixed-wing UAV swarm flight problem in complex environment, a virtual tube model based on generator curve is established. The tube keeping, centerline tracking and flight safety behavioral control strategies of the UAV swarm are designed to ensure that the UAV swarm flies along the inside of the virtual tube safety and does not go beyond its boundary. On this basis, a maneuvering decision-making method based on behavioral fusion is proposed to ensure the safe flight of UAV swarm in the restricted airspace. This cooperative control method eliminates the need for respective pre-planned trajectories, reduces communication requirements, and achieves a high level of intelligence. Simulation results show that the proposed behavior-based UAV swarm cooperative control method is able to make the fixed-wing UAV swarm, which is faster and unable to hover, fly along the virtual tube airspace under various virtual tube shapes and different swarm sizes, and the spacing between the UAVs is larger than the minimum safe distance during the flight.

关键词： Unmanned aerial vehicles (UAV) UAV swarm Distributed cooperative control Swarm flight safety Behavior-based method Virtual tube airspace

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The Research on Simulation technology for multi-aircraft cooperative guidance

The Research on Simulation Technology for multi-aircraft coo...

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2019 IEEE International Conference on Unmanned systems, ICUS 2019

作者： Jing, Li Chao, Shen Jiahui, Tong Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781728137926

In this paper, the composition and operation mechanism of a multi-aircraft cooperative simulation system is analyzed, with its formal architecture identified as a discrete event system differential equation system specifications (DEVDESS). Then, the operation and control problem of the cooperative simulation system is converted into the simulation control problem of a specific DEVDESS system. A coordinator-based test method for cooperative simulation is proposed and validated by tests of real-time mathematical simulation. © 2019 IEEE.

关键词： Hardware-in-the-loop simulation

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Distributed Event-Triggered Cooperative Formation control of Fixed-Wing UAV 1

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International Conference on Autonomous Unmanned systems, ICAUS 2021

作者： Yue, Keyuan Yuan, Jianquan Hao, Mingrui Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China

ISBN: (数字)9789811694929

ISBN: (纸本)9789811694912

In order to save the communication bandwidth between the fixed-wing unmanned aerial vehicles (UAVs), a cooperative formation control algorithm based on event-triggered communication mechanism is proposed in this paper. The aircraft uses a state estimator to estimate the states of other aircrafts, and when the state of the aircraft itself exceeds a certain threshold, its state information is sent to the neighboring aircraft through the data link, so that the neighboring aircraft updates the states of its estimator. Taking the established autopilot model with a 6-dof inner-loop attitude stabilization loop as the formation control object, a multi-aircraft outer-loop formation controller is designed based on the consensus algorithm. Through numerical simulation, under the condition of ensuring certain control performance of the aircraft cluster, the communication between aircrafts is reduced and bandwidth resources are saved, which verifies the effectiveness of the proposed algorithm. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Fixed wings

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