Optical flow-based four-rotor unmanned aerial vehicle flight control method

A quadrotor UAV, flight control technology, applied in the field of quadrotor UAV flight control, can solve problems such as limiting application flexibility

Active Publication Date: 2013-10-23
TIANJIN UNIV
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AI Technical Summary

Problems solved by technology

The advantage of the former over the latter lies in its better airborne image processing capability, but the latter has greater advantages in terms of application occasions and application expansion capabilities: First, the control method using the optical flow sensor is due to the sensor itself It is only suitable for low-altitude flight (below 4 m

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  • Optical flow-based four-rotor unmanned aerial vehicle flight control method
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  • Optical flow-based four-rotor unmanned aerial vehicle flight control method

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Embodiment Construction

[0084] The optical flow-based flight control method of the quadrotor drone of the present invention will be described in detail below in conjunction with the embodiments and the accompanying drawings.

[0085]The flight control method of the four-rotor UAV based on optical flow of the present invention proposes a novel control method of the four-rotor UAV based on the calculation of the optical flow information of the image obtained by the camera, further filtering the optical flow information, and then designing The inner and outer loop controllers complete the control and trajectory tracking flight of quadrotor drones, especially micro quadrotor drones. The invention has strong adaptability to environmental changes, can significantly improve the hovering control precision and track tracking precision of the quadrotor drone, and reduce the error range.

[0086] Such as figure 1 Shown, the four-rotor unmanned aerial vehicle flight control method based on optical flow of the p...

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Abstract

The invention discloses an optical flow-based four-rotor unmanned aerial vehicle flight control method. The method comprises the following steps: calculating optical flow information by utilizing an image pyramid-based Lucas. Canard method; processing the optical flow information by adopting a Kalman filtering method; performing data fusion on an optical flow and an attitude angle, and calculating the horizontal displacement of an unmanned aerial vehicle; and designing a proportional-differential controller, including determining a four-rotor unmanned aerial vehicle dynamic model and designing a control algorithm. By the optical flow-based four-rotor unmanned aerial vehicle flight control method disclosed by the invention, the horizontal position information of the unmanned aerial vehicle is calculated by fusing the image information and the attitude angle information acquired by utilizing an airborne camera; and the position of a small unmanned aerial vehicle is controlled by taking the unmanned aerial vehicle horizontal position information as the feedback information of an outer ring PD (proportional-differential).

Description

technical field [0001] The invention relates to a flight control method of a quadrotor unmanned aerial vehicle. In particular, it relates to a flight control method for quadrotor UAVs based on optical flow, which has strong adaptability to indoor and outdoor environments and can be applied to micro to small quadrotor UAVs. Background technique [0002] With the development of sensor technology, new material technology and microprocessor technology, quadrotor UAV has gradually become a hot spot in the field of UAV research. It has the characteristics of low cost, strong safety, light weight, small size, flexible maneuverability, etc., and has a wide range of applications in military and civilian fields. It can be used in mines or large buildings for detection in indoor environments, search and rescue in dangerous airtight environments, etc. In outdoor environments, it can be used to monitor and inspect traffic conditions and infrastructure conditions such as bridges, dams, a...

Claims

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Application Information

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IPC IPC(8): G05D1/10
Inventor 鲜斌刘洋张旭
Owner TIANJIN UNIV
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