用于自主空中-海上混合任务的定制PX4固件
Custom PX4 firmware for autonomous hybrid aerial-marine missions
- PRISMA Lab, Department of Electrical Engineering and Information Technology, University of Naples Federico II（那不勒斯费德里科二世大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文提出PX4固件扩展，集成手动与自主海上导航模式，支持混合空中-海上任务统一规划，仿真验证了稳定水面导航。
AI中文摘要：
对水生环境进行测绘和监测，可受益于能够在同一任务中结合飞行和水面航行的混合空中-两栖无人机。本文提出了一种针对此类平台的PX4固件扩展，引入了与标准PX4任务流程和QGroundControl界面集成的手动及自主海上导航模式。所提出的框架保留了现有的飞行功能和安全机制，同时实现了具有差异化空中和海上航点的混合空中-海上任务的统一规划与执行。仿真案例研究验证了该实现，并展示了在平静和有波浪条件下的稳定水面导航。
英文摘要：
Mapping and monitoring aquatic environments can benefit from hybrid aerial-amphibious drones able to combine flight and water-surface navigation within the same mission. This paper presents a PX4 firmware extension for such platforms, introducing manual and autonomous marine navigation modes integrated with the standard PX4 mission pipeline and QGroundControl interface. The proposed framework preserves existing flight functionalities and safety mechanisms while enabling unified planning and execution of hybrid aerial-marine missions with differentiated aerial and marine waypoints. Simulated case studies validate the implementation and demonstrate stable surface navigation under calm and wavy conditions.
