国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

In the research of of rotorcraft UAV, in order to improve the positioning accuracy in the lack of GPS environment, a SLAM-based integrated navigation algorithm for rotorcraft is proposed in the paper. Firstly, completing SLAM process based on scan matching algorithm by introducing bilinear interpolation algorithm. Then, establishing the strapdown inertial navigation system error model, and simplifying the error model for the use environment of the rotor UAV. Finally, the Federated Kalman filter algorithm is designed to fuse the SLAM algorithm with the data output by the strapdown inertial navigation system. The simulation results show that the accuracy of position estimation and attitude estimation is improved by using the SLAM-based integrated navigation algorithm.