An improved MCS/INS integrated navigation algorithm for multi-rotor UAV in indoor flight

摘要

Motion capture system is a kind of high-precision attitude and position measurement system. Precise navigation information is provided for multi-rotor UAV indoor autonomous flight. However, it is time-consuming in the stage of signal measurement, information decoding and data transmission in motion capture system, which makes the multi-rotor UAV get delay navigation information. In this paper, according to the problem that the system data delay is time-varying, a delay time calculation method is proposed. Fuse the onboard inertial sensor information with the delayed measurement data to compensate the delay error through kalman filter. The experiments show that the algorithm we proposed can effectively estimate the data latency of the motion capture system, and compensate the error online. The multi-rotor UAV flight performance is improved.