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Autonomous positioning method for unmanned aerial vehicle based on vision and imu

An autonomous positioning and unmanned aerial vehicle technology, applied in mechanical equipment, combustion engines, internal combustion piston engines, etc., can solve problems such as the inability to ensure reliable GPS signal reception and resolution, imu unable to meet autonomous positioning, and limited load and flight capabilities. , to achieve the effect of low cost, high reliability and high positioning accuracy

Active Publication Date: 2019-03-26
TIANJIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Compared with large and medium-sized drones, small and micro drones have limited load and flight capabilities, the complexity of the flight environment cannot guarantee reliable reception and calculation of GPS signals, and the low-precision imu carried cannot meet their autonomous positioning needs.

Method used

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  • Autonomous positioning method for unmanned aerial vehicle based on vision and imu
  • Autonomous positioning method for unmanned aerial vehicle based on vision and imu
  • Autonomous positioning method for unmanned aerial vehicle based on vision and imu

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Embodiment Construction

[0037]Aiming at the problems in the prior art, the present invention aims to provide an autonomous positioning method for small and medium-sized UAVs. The UAV is equipped with a camera, an imu sensing device, and a NUC processor. First, the camera on the UAV senses the surrounding environment to obtain image information, and then uses the optical flow method to process the image to achieve motion tracking. Corner points are extracted from the image for initialization of the system. The initialization adopts the epipolar constraint method to match the corner points obtained in the image, and based on this, the position information based on the image is solved. For the acceleration and angular velocity information obtained by the imu sensor, pre-integrate the acceleration information and angular velocity information to solve the position information based on the imu. Next, the position information obtained by the vision and the position information obtained by the imu are regis...

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Abstract

The invention relates to the fields of an ROS system, a computer vision, image processing and the like and provides an autonomous positioning method for an unmanned aerial vehicle based on vision andimu. The technical scheme is as follows: the utonomous positioning method for the unmanned aerial vehicle based on vision and imu comprises the following steps: collecting an image in front of the unmanned aerial vehicle by means of a monocular camera; reading information of acceleration and angular speed of the unmanned aerial vehicle by means of imu, wherein the monocular camera and imu are synchronized in hardware. The method further comprises the following specific steps of sensing a surrounding environment by means of a camera loaded on the unmanned aerial vehicle to acquire image information and processing the image by way of light stream to track movement. The method is primarily applied to autonomous control occasions of the unmanned aerial vehicle.

Description

technical field [0001] The invention relates to the fields of ROS system, computer vision, image processing and the like, and relates to a method for autonomous positioning of a drone based on a monocular camera, which solves the problem of positioning the drone in a signal-free environment. Background technique [0002] UAVs are highly flexible and autonomous, and can perform tasks without human intervention or with less intervention, helping humans complete dangerous or repetitive labor. In recent years, the rapid development of UAV technology has made it widely used in military and civilian fields, and has played an important role in intelligence detection, battlefield rescue, earthquake relief, fire monitoring, etc. Due to the diversity of UAV application scenarios and the complexity of flight tasks, small and micro UAVs are typical representatives, and intelligent UAVs with autonomous positioning functions are gradually becoming an important trend in the development of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20Y02T10/40
Inventor 宗群刘彤窦立谦韩天瑞霍新友
Owner TIANJIN UNIV
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