Vcon-based unmanned aerial vehicle laser positioning debugging method
A laser positioning and debugging method technology, applied in the direction of using re-radiation, electromagnetic wave re-radiation, radio wave measurement system, etc., can solve the problems of large system error, unsuitable true value, complicated steps of adding blind nodes, etc., and achieve high accuracy requirements, reduced commissioning time, and increased flexibility
Active Publication Date: 2020-04-03
NANCHANG UNIV
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Problems solved by technology
[0003]
1. The traditional node positioning method is difficult to calibrate, and the system itself has large errors, so it is not suitable as a true value
[0004]
2. Compared with Vicon's maker ball to create a rigid body, the steps of adding blind nodes for node positioning are complicated
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[0028] In order to make the purpose, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The specific embodiments described here are only used to explain the technical solution of the present invention, and are not limited to the present invention.
[0029] The present invention aims at the deficiencies in the existing indoor UAV laser positioning and debugging technology, and provides a debugging method for UAV laser positioning using Vicon, using laser data, IMU data and Vicon data fusion, under the control of Vicon position parameters. Evaluation of SLAM positioning error and parameter optimization, calculating the correction parameters of the attitude loop based on the IMU drone, calculating the correction parameters of the SLAM position loop based on the laser and IMU, and finally correcting the control parameters of the position...
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The invention relates to the field of laser SLAM, in particular to a Vcon-based unmanned aerial vehicle laser positioning debugging method which comprises a laser data, airborne IMU data and Vcon dataacquisition module, a data fusion module, a laser SLAM error estimation module, a position loop attitude loop parameter correction module and an output module. According to the invention, the pose information of an aircraft body in an inertial coordinate system and the pose information of the aircraft body in a Vicon coordinate system are collected by the laser, airborne IMU and Vicon data acquisition module, the errors of positions and postures in all directions are obtained through the data fusion module, then, the SLAM parameters are optimized in the laser SLAM error estimation module, andthen the corresponding control parameters are optimized in the position loop attitude loop parameter correction module to obtain a group of optimal control parameters, and finally the optimized parameters of the SLAM and the control parameters of the two loops are outputted through the output module, thereby quickly debugging the indoor unmanned aerial vehicle laser positioning while ensuring thehigh-precision requirement.
Description
technical field [0001] The invention relates to the field of laser SLAM, in particular to a debugging method for laser positioning of a quadrotor UAV using Vicon as a reference. Background technique [0002] Vicon is a high-precision motion capture system that can obtain the position and attitude of the target stably and in real time. Vicon data is often used as the ground truth for position and attitude in the dataset to evaluate and debug the accuracy of other localization systems. The method of autonomous positioning and navigation of indoor UAVs based on lidar is more flexible than indoor node positioning, but the accuracy is lack of evaluation, and as the control and debugging of high-precision indoor UAV position loop and attitude loop, real-time sensors are required Measurement error and control response. The drone's position, velocity and attitude can all be evaluated by the Vicon system. There are some shortcomings in the positioning and debugging method based on...
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IPC IPC(8): G01C21/18G01C21/16G01S17/06
CPCG01C21/18G01C21/165G01S17/06Y02T10/40
Inventor 郭杭程亮蒋萍严小意
Owner NANCHANG UNIV