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SLAM method through cooperation of multiple quadrotor unmanned planes based on vision

A quadrotor UAV and UAV technology, applied in the UAV field, can solve problems such as interference and lack of GPS signals, achieve good maneuverability and improve accuracy

Active Publication Date: 2015-11-04
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

At present, the commonly used positioning method is GPS positioning, but in some special environments, the GPS signal will be missing or interfered, and a positioning method that does not rely on GPS is required

Method used

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  • SLAM method through cooperation of multiple quadrotor unmanned planes based on vision
  • SLAM method through cooperation of multiple quadrotor unmanned planes based on vision
  • SLAM method through cooperation of multiple quadrotor unmanned planes based on vision

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Embodiment Construction

[0032] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

[0033] like figure 1 As shown, the vision-based multi-quadrotor cooperative SLAM method of the present invention is as follows:

[0034] Select one quadrotor UAV UAV1 as the main UAV, and the other two quadrotor UAVs UAV2 and UAV3 as auxiliary UAVs, and ensure that UAV2 and UAV3 are within the observation range of UAV1. All three quadrotor drones carry cameras and inertial navigation units.

[0035] UAV1 performs SLAM tasks, and the total number of landmarks is M. UAV2 and UAV3 are also used as landmarks to estimate and update. The onboard camera is used to collect image information, and the onboard inertial navigation unit is used to obtain the attitude angle and acceleration information of the UAV. Formula (1) joint probability distribution of the main UAV SLAM

[0036] p ( x t ...

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Abstract

The invention discloses an SLAM method through the cooperation of multiple quadrotor unmanned planes based on vision, and the method aims at a plurality of quadrotor unmanned planes, wherein the plurality of quadrotor unmanned planes are respectively provided with a camera for collecting image information and an inertial navigation unit for obtaining an attitude angle and acceleration information of the corresponding unmanned plane, and can communicate with each other. One quadrotor unmanned plane is a main unmanned plane and the others are auxiliary unmanned planes. The main unmanned plane is responsible for completing an SLAM task, and the auxiliary unmanned planes are suspended and stopped at fixed positions and used for the relative position measurement of the main unmanned plane and also used for helping the main unmanned plane carry out real-time positioning correction. The method is mainly used for the autonomous flight of the plurality of quadrotor unmanned planes, facilities the real-time adjustment of position and posture estimation of the main unmanned plane, and improves the accuracy of position and posture estimation of the unmanned plane and accuracy of road sign position. In addition, the auxiliary unmanned plane can be quickly used for compensation and continuously execute a task when an accident happens to the main unmanned plane and the main unmanned plane cannot complete the SLAM, so the maneuverability is good.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a vision-based multi-quadrotor unmanned aerial vehicle cooperative SLAM method. Background technique [0002] UAVs are now widely used in many fields such as military and civilian use. In the military, UAVs can complete tasks such as air early warning, reconnaissance and surveillance, communication relay and small-scale attacks. In terms of civilian use, UAVs can complete tasks such as environmental monitoring, remote sensing detection, search and rescue in disaster areas, and pesticide spraying. Accurate estimation of UAV pose is the basis for autonomous and safe flight of UAV. The currently widely used positioning method is GPS positioning, but in some special environments, GPS signals will be missing or interfered, and a positioning method that does not rely on GPS is required. The vision-based SLAM method uses the onboard camera to collect imag...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
Inventor 丛楚滢王从庆丁臻极
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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