Four-rotor unmanned aerial vehicle visual navigation system and method based on Raspberry Pi

A four-rotor UAV, visual navigation technology, applied in control/adjustment systems, three-dimensional position/channel control, instruments and other directions, can solve the problems of reducing the real-time performance of UAV navigation process, complex image algorithms, etc., to enhance autonomy Real-time performance, improved economy, and overall cost reduction effect

Inactive Publication Date: 2019-11-22
NANJING UNIV OF SCI & TECH
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Problems solved by technology

However, the acquisition and processing of image information in the visual navigation method requires huge data calculations...

Method used

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  • Four-rotor unmanned aerial vehicle visual navigation system and method based on Raspberry Pi
  • Four-rotor unmanned aerial vehicle visual navigation system and method based on Raspberry Pi
  • Four-rotor unmanned aerial vehicle visual navigation system and method based on Raspberry Pi

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Embodiment

[0050] Such as figure 1 As shown, this embodiment is based on the Raspberry Pi four-rotor UAV visual navigation system, including a flight control board 1, a drive module 2, a power detection module 3, a visual processing module 4, an altitude measurement module 5, and a remote control module 6 And wireless communication module 7, wherein flight control board 1 comprises flight control processor, communication module and attitude acquisition module;

[0051] In this embodiment, the flight control board 1 uses pixhawk, which uses STM32F427 as the flight control processor. The chip has a built-in high-speed on-chip clock, built-in power-on reset, clock output, buzzer output control circuits, etc., and has superior power consumption control , and has a wealth of peripherals, such as I2C interface, UART interface, etc., which can be connected to ultrasonic, GPS, wireless communication and other modules, and has good system scalability.

[0052] In this embodiment, the drive modul...

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Abstract

The invention discloses a four-rotor unmanned aerial vehicle visual navigation system and method based on Raspberry Pi. The system comprises a flight control panel, a driving module, a power supply detection module, a visual processing module, a height measurement module, a remote controller control module and a wireless communication module, wherein the flight control panel comprises a flight control processor, a communication module and an attitude acquisition module. The method comprises the following steps: controlling the unmanned aerial vehicle to fly to a stable height, and switching toan automatic control mode; acquiring a camera image by using the Raspberry Pi to extract a target, calculating the position deviation of a target relative to the unmanned aerial vehicle, transmittingthe position deviation information to a flight control processor, and compensating the position deviation information by using attitude angle information to acquire final deviation information; and finally, calculating a control output value by using a PID algorithm and the deviation information, and controlling the unmanned aerial vehicle to perform tracking flight. The system is high in transportability and low in cost, the method is simple and convenient, and autonomous navigation of the unmanned aerial vehicle can be performed without GPS signals.

Description

technical field [0001] The invention relates to the technical field of multi-rotor UAV control and navigation, in particular to a Raspberry Pi-based four-rotor UAV visual navigation system and method. Background technique [0002] Quadrotor UAV is a multi-rotor UAV that has the advantages of compact structure, small size, stable flight, and high flexibility. It can achieve a variety of complex tasks. It has a very wide range of applications in military and civilian fields. With the widespread application of UAVs, the complexity of the tasks they need to perform is gradually increasing, which makes the requirements for navigation technology gradually increase. Navigation technology plays a decisive role in the successful execution of UAV missions. [0003] At present, the commonly used navigation solutions for UAVs include inertial system navigation, GPS navigation, and visual navigation. Inertial system navigation relies on inertial measurement components, which use acceler...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 王荣梅沈子超戚国庆
Owner NANJING UNIV OF SCI & TECH
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