陶婧

摘要：传统的农用无人机高精度定位系统定位精度未达到预期效果，为了解决这一问题，设计一种新的农用无人机高精度定位系统。系统硬件部分包含飞控板的主要电子元器件、GPS 芯片、主控芯片、陀螺仪和飞控板印刷线路板选型。系统软件部分利用3维点深度算法完成农用无人机高精度定位系统流程设计。软、硬件结合完成农用无人机高精度定位系统的设计。实验结果表明，所提系统在静态测试5 h后的CEP为2.538 9 m，传统系统在静态测试5 h后的CEP为6.305 2 m。实验结果说明所提系统单点定位精度更高，实际应用效果更好。

关键词：农用无人机;高精度定位;硬件结构;软件功能;GPS 芯片;陀螺仪

中图分类号：TP391文献标志码：A

文章编号：2095-5383（2020）04-0030-04

Research on High-precision Positioning System of Agricultural UAV

TAO Jing

（Institute of Public Administration， Wuhu Institute of Technology， Wuhu 241000， China）

Abstract： The positioning accuracy of the high-precision positioning system of traditional agricultural UAV has not reached the expected effect. In order to solve this problem， a new high-precision positioning system for agricultural Uav was designed. The hardware part of the system includes the main electronic components of the flight control board， GPS chip， main control chip， gyroscope and the flight control board printed circuit board. In the part of the system software， three-dimensional point depth algorithm was used to complete the process design of high-precision positioning system of agricultural UAV. The combination of hardware and software completed the design of high-precision positioning system of agricultural UAV. The experimental results show that the CEP of the proposed system after 5 hours of static testing was 2.538 9 m， while the GPE of the traditional system after 5 hours of static testing is 6.305 2 m. The experimental results show that the proposed system has higher single point positioning accuracy and better practical application effect.

Keywords：

Agricultural UAV; high precision positioning; hardware structure; software function; GPS chip; gyroscope

无人机是根据事先编写好的程序自主完成飞行的不载人飞机，在军事领域可用于目标侦查和巡检，在民用领域可用于娱乐拍摄或农业等方面[1]。目前，农用无人机已在农业领域得到广泛应用，如用装载摄像头和感应器的无人機来监测农作物生长状态、病虫害情况或者定点精确喷洒杀虫剂和农药等等，而这一过程的实现需要利用无人机进行高精度定位。在田间作业时，单点定位精度的无人机无法按照预定的路线喷洒农药，在多点无人机定位配合时还容易发生碰撞，造成严重后果。因此，相关的农用无人机定位系统的研究受到广泛关注。

文献[2]中设计了一种基于GPS（Global Positioning System，全球定位系统）和GPRS（General Packet Radio Service，通用分组无线服务技术）的混合农业无……