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本文为瑞典哈姆斯塔德大学(作者:Tae Hyun Kim & Denny Toazza)的学士论文,共67页。
本文提出了一种无人机在给定GPS坐标系下不受人为干扰飞行的新导航算法。无人机首先通过与导航计算机的蓝牙连接,从GPS接收机获取当前位置。利用这个GPS位置,它可以绘制到达下一个目的地的最佳轨迹。在飞行过程中,导航计算机发出转向方向和转向多少的信息,这些信息将用于操纵飞机伺服系统。该算法用JavaLeJOS编程,使用内置的关于GPS和蓝牙的Java类。导航程序运行的主计算机是一部乐高Mindstorms NXT,使用HOLUX的GPSlim240作为GPS接收机。
The thesis covers a new navigationalgorithm for UAV to fly through several given GPS coordinates without anyhuman interference. The UAV first gets its current position from GPS receivervia Bluetooth connection with the navigator computer. With this GPS point, itdraws an optimal trajectory to next destination. During the flight, thenavigator computer issues the information about which direction to turn and howmuch to turn. This information will be used to steer the airplane servos. Thealgorithm is programmed in Java LeJOS. It uses built-in Java classes about GPSand Bluetooth. The main computer, where the navigation program runs, is a LEGOMindstorms NXT and it is used a GPSlim240 from HOLUX as a GPS receiver.
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