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Unmanned aerial vehicle self-localization and pose regulation technology based on ground identifications

An unmanned aerial vehicle and autonomous positioning technology, applied to instruments, measuring devices, etc., can solve problems such as poor positioning accuracy, poor indoor positioning effect, and high price

Inactive Publication Date: 2018-05-08
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The present invention aims to solve the problems of poor indoor positioning effect existing in the existing unmanned aerial vehicle positioning method, and the cumulative error existing in the existing indoor positioning method, the inability to correct the attitude of the unmanned aerial vehicle, high price and poor positioning accuracy, etc.

Method used

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  • Unmanned aerial vehicle self-localization and pose regulation technology based on ground identifications
  • Unmanned aerial vehicle self-localization and pose regulation technology based on ground identifications
  • Unmanned aerial vehicle self-localization and pose regulation technology based on ground identifications

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specific Embodiment approach 1

[0057] Specific implementation mode one: combine figure 1 To describe this embodiment,

[0058] A technology for autonomous positioning and pose correction of unmanned aerial vehicles based on ground markings, comprising the following steps:

[0059] Step 1. Establish the initial geographic coordinate system, the body coordinate system, the body-to-geography implicated coordinate system, the camera coordinate system, the image coordinate system, the optical flow module coordinate system, and install the camera and the optical flow positioning module on the UAV;

[0060] Step 2, calibrate the position and attitude of the camera coordinate system relative to the body coordinate system, measure the relative positional relationship between the optical flow positioning module and the camera, and calibrate the transformation matrix between the body coordinate system and the initial geographic coordinate system;

[0061] Step 3, obtain the velocity information of the optical flow po...

specific Embodiment approach 2

[0067] The specific process of step 1 of this embodiment includes the following steps:

[0068] Step 11, the initial geographic coordinate system o 0 x 0 the y 0 z 0 : Take the east-north-sky coordinate system of the location of the UAV as the initial geographic coordinate system;

[0069] Body coordinate system o b x b the y b z b : Take the center of gravity of the UAV as the origin of the body coordinate system o b , the direction parallel to the axis pointing to the nose of the UAV in the longitudinal symmetry plane is x b Axis, pointing to the right perpendicular to the longitudinal symmetry plane of the UAV is y b axis, perpendicular to x b axis and y b Axis pointing down the UAV is z b axis;

[0070] Airframe to geographic implicated coordinate system o 1 x 1 the y 1 z 1 : Take the center of gravity of the UAV as the origin of the body coordinate system o 1 , x 1 、y 1 ,z 1 The axes are respectively parallel to the initial geographic coordinate syste...

specific Embodiment approach 6

[0095] The specific process of Step 5 of this embodiment is as follows:

[0096] Step 51: Under the initial geographic coordinate system, use the position and angle of the unmanned aerial vehicle, the position and angle of the straight line after preliminary screening under the initial geographic coordinate system, and the relationship between the straight lines after preliminary screening to further screen the straight line, delete the position, The straight line whose angle is too different from the real value, delete the non-parallel and non-perpendicular line with other straight lines.

[0097] Step 52: Process the information of the straight line after further screening, and in the initial geographic coordinate system, make a difference between the real position of the straight line after screening and the detected position of the straight line after screening, and the result is the UAV position correction amount ΔP.

[0098] When there is only one straight line informati...

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Abstract

The invention discloses unmanned aerial vehicle self-localization and pose regulation technology based on ground identifications, and belongs to the field of automatic control and image processing. According to the unmanned aerial vehicle self-localization and pose regulation technology based on ground identifications, a camera is used for identifying ground identifications, and aircraft positionand pose regulation is completed via combination of inertial elements, a magnetometer, and optical flow module information without GPS signals; the inertial elements and the optical flow module are used for obtaining pitching rolling information and position information of the aircraft; the magnetometer is used for obtaining the yaw information of the aircraft; the camera is used for obtaining images of the ground identifications; the position and the pose of the aircraft with relative to the initial geographic coordinate system is calculated based on the position and the pose of the ground identifications in the obtained images and the initial geographic coordinate system; the pose information obtained using the camera is used for pose calibration of the pose obtained using the inertial elements, the magnetometer, and the optical flow module. In the unmanned aerial vehicle self-localization and pose regulation technology, a net with fixed intervals composed of white characteristic belts, or ground tile slits can be taken as the ground identifications, and the global positioning and the poser calibration of the aircraft are realized.

Description

technical field [0001] The invention relates to the field of automatic control and image processing, and is suitable for precise navigation indoors of unmanned aerial vehicles or high-precision navigation without GPS signals. Background technique [0002] In recent years, the development of unmanned aerial vehicles has become a topic of increasing concern in both civilian and military fields, such as unmanned helicopters, unmanned fixed-wing aircraft, unmanned rotor aircraft, etc., which are currently widely used in various industries, such as reconnaissance and surveillance , search and rescue, aerial photography and topographic mapping, etc. Especially the quadrotor unmanned aerial vehicle, with its simple structure, vertical take-off and landing and free hovering features, can complete the set tasks excellently in complex environments. In the process of performing missions of unmanned aerial vehicles, navigation and positioning is one of the most critical issues. [000...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 张雨遆晓光范晋祥刘飞
Owner HARBIN INST OF TECH
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