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

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...

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 meters), and has relatively strict requirements on lighting conditions (the stroboscopic effect of fluorescent lamps has a strong impact on the normal operation of the sensor); second, the control method using the optical flow sensor cannot Modification or expansion of its optical flow calculation method greatly limits the flexibility of applications

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