Multi-rotor unmanned aerial vehicle pose acquisition method based on markers in shape of large and small square

A technology of a multi-rotor unmanned aerial vehicle and an acquisition method, which is applied in the field of multi-rotor unmanned aerial vehicle position and attitude acquisition based on large and small characters markers, can solve the problems of inaccurate positioning of the unmanned aerial vehicle, large error, and high IMU price.

Active Publication Date: 2013-03-13
南京傲翼飞控智能科技有限公司
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AI Technical Summary

Problems solved by technology

However, the application of GPS has great limitations: it can only be detected outdoors and in the presence of interference signals. The damage of the man-machine, and the IMU is expensive, which affects economic benef

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  • Multi-rotor unmanned aerial vehicle pose acquisition method based on markers in shape of large and small square
  • Multi-rotor unmanned aerial vehicle pose acquisition method based on markers in shape of large and small square
  • Multi-rotor unmanned aerial vehicle pose acquisition method based on markers in shape of large and small square

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Embodiment

[0048] Apply the multi-rotor UAV position and attitude acquisition method based on the large and small back characters markers of the present invention to the automatic battery replacement system for the UAV to obtain the position and posture accurately and land by this method.

[0049] figure 1 As shown, the small multi-rotor UAV includes: motor drive part, CCD camera, wireless transmitting / receiving device, battery compartment, main control board, and landing gear. The ground includes: ground control station, wireless transmitting / receiving device, and markers marked with big and small characters.

[0050] Below the main control board in the middle of the small multi-rotor drone is the battery compartment, and under the battery compartment is the CCD camera. Around the main control board are motor drives and wireless transmitting / receiving devices, which are in contact with the ground through the landing gear as a whole. The CCD camera is controlled by the main control boa...

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Abstract

The invention discloses a multi-rotor unmanned aerial vehicle (UAV) pose acquisition method based on markers in shape of a large and a small square. The method is as below: first determining target markers based on the relative height of the UAV and the markers, wherein the markers comprise a small square and a large square with side length 10 times of that of the small square; second, according to the determined target markers, establishing a relationship model between a CCD camera of the UAV and the target markers; and finally, according to the established model, employing a direct linear transformation method to obtain an azimuth angle of the UAV and location information of the UAV at the corresponding time. The method can accurately obtain the pose of the UAV.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, in particular to a multi-rotor unmanned aerial vehicle pose acquisition method based on large and small back characters markers. Background technique [0002] In recent years, with the frequent occurrence of large-scale natural disasters such as earthquakes, floods, and nuclear pollution, the research on small multi-rotor UAVs has gradually become a hot spot in UAV research. Especially in the autonomous navigation and landing of small multi-rotor UAVs, how to obtain the pose information of small multi-rotor UAVs more accurately is extremely important. The most widely used in recent years is to measure the position and orientation information of drones through the combination of GPS and IMU (inertial navigation equipment). However, the application of GPS has great limitations: it can only be detected outdoors and in the presence of interference signals. The man-machine is damage...

Claims

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Application Information

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IPC IPC(8): G01C21/00G06T7/00
Inventor 王伟朱海飞胡凯翁理国夏旻马浩
Owner 南京傲翼飞控智能科技有限公司
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