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UAV indoor positioning system and positioning method based on cooperation target and monocular vision

A monocular vision, indoor positioning technology, applied in control/adjustment systems, three-dimensional position/channel control, vehicle position/route/altitude control, etc. The effect of interacting with the environment and increasing the speed of computation

Active Publication Date: 2017-09-08
一飞智控(天津)科技有限公司
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  • Application Information

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Problems solved by technology

Today, the country has conducted some research on the indoor navigation control of UAVs, but a unified theoretical system has not yet been formed, and there are still some important theories and technologies to be resolved.

Method used

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  • UAV indoor positioning system and positioning method based on cooperation target and monocular vision
  • UAV indoor positioning system and positioning method based on cooperation target and monocular vision

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Embodiment Construction

[0027] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

[0028] As shown in the figure, a UAV indoor positioning system based on cooperative targets and monocular vision of the present invention includes multiple identifiers with coded information arranged on the indoor ground or on a certain facade, Monocular vision system module, sensor module and flight control system,

[0029] The monocular vision system module includes a monocular camera and a visual information processing unit. The monocular camera is used to obtain marker information during flight and transmit the video stream to the visual information processing unit through the CAN data bus. The visual information processing unit includes a processing system containing dual processing cores o...

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Abstract

The invention discloses a UAV indoor positioning system based on a cooperation target and monocular vision. The system comprises multiple identifiers with code information that are arranged indoor, a monocular vision system module, a sensor module, and a flying control system, wherein the monocular vision system module comprises a monocular camera and a vision information processing unit, the monocular camera is used for acquiring information of an identifier in flying, and the vision information processing unit is used for completing acquisition of video data and processing information and transmitting a processing result to the flying control system. According to the system, the identifier with code information is used as a guide, and only one identifier is used as a cooperation target so as to perform identification to acquire a relative position of an identifier of a UAV; further, the identifier has code information, thereby being easy to distinguish from the environment; and the system has a coding characteristic, thereby being suitable for batch production, so that efforts are not consumed in designing identifiers that can be distinguished from the environment and other identifiers.

Description

Technical field [0001] The invention relates to the technical field of UAV control systems, in particular to an UAV indoor positioning system and a positioning method based on cooperative targets and monocular vision. Background technique [0002] UAVs are unmanned aerial vehicles. UAVs adopt high-tech technologies such as satellite positioning, remote sensing, geospatial, aerospace, automatic control, and computer-aided analysis. They can serve the land, surveying and mapping, forestry, transportation, water conservancy, military, etc. Areas. [0003] The UAV navigation system is one of the key components of the UAV system. At present, the navigation technologies used by UAVs mainly include inertial navigation, satellite navigation, Doppler navigation, visual navigation, terrain assistance and geomagnetic navigation. In practical applications, it is necessary to select a suitable navigation system according to the flight environment, mission requirements, and application scope a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G05D1/10
CPCG05D1/101G01C21/206Y02D30/70
Inventor 卢翔王明明
Owner 一飞智控(天津)科技有限公司
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