Fully autonomous flight control method for quadrotor UAV based on visual slam

Abstract

The invention relates to a full-autonomous flight control method for an unmanned aerial vehicle, provides a quadrotor unmanned aerial vehicle vision control system based on an embedded framework, and discloses a full-autonomous flight control method for a quadrotor unmanned aerial vehicle based on vision SLAM. The functions of autonomous locating and flight control of the unmanned aerial vehicle without relaying on any environment information under the environment without GPS signals are achieved. According to the technical scheme, the full-autonomous flight control method for the quadrotor unmanned aerial vehicle based on vision SLAM comprises the following steps that a camera arranged at the bottom of the quadrotor unmanned aerial vehicle is used for collecting image information, an integrated inertial navigation unit is used for obtaining the attitude angle and accelerated speed information of the unmanned aerial vehicle, the image information and the attitude angle and accelerated speed information are used for being input, and an improved vision SLAM algorithm is operated to obtain the three-dimensional position and the attitude information of the quadrotor unmanned aerial vehicle; vision position information and three-dimensional accelerated speed provided by the inertial navigation unit are fused by adopting an expansion Kalman filtering device, a PID controller is designed, and full-autonomous flight control over the quadrotor unmanned aerial vehicle is achieved. The method is mainly applied to full-autonomous flight control over the unmanned aerial vehicle.

Description

technical field [0001] The invention relates to a fully autonomous flight control method for a quadrotor UAV, in particular to a problem of autonomous positioning and control of a quadrotor UAV based on visual SALM in an environment where GPS signals are missing. Background technique [0002] A drone is an unmanned aerial vehicle that can be controlled by wireless remote control or programming. In recent years, the application of unmanned aerial vehicle (UAV) in military and civilian fields has attracted widespread attention. For example, in the military, it can be used for reconnaissance, monitoring, and small-scale attacks; in civilian use, it can be used for aerial photography, surveying and mapping, remote sensing, pesticide spraying, high-voltage transmission line inspection, and earthquake rescue. As a kind of small UAV, quadrotor UAV has outstanding advantages such as strong maneuverability, simple structure design and high safety, and it can approach the target at c...

AI Technical Summary

Problems solved by technology

[0006] Although the above-mentioned research schemes have achieved certain results, most research institutions adopt the control method based on the ground station architecture, which still has shortcomings in terms of real-time performance, effectiveness and versatility.

In this structure, the image information collected by the airborne camera needs to be transmitted to the ground station for processing through the Wi-Fi wireless network, and the control commands generated after processing are sent to the flight controller of the UAV through Wi-Fi, and the control process There is a large time delay, and the real-time performance of the system is poor

In addition, the use of wireless data transmission also limits the flight range of UAVs, increases its dependence on transmission lines, and is also susceptible to other signal interference during data transmission.

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