A navigation and positioning method for unmanned aerial vehicle based on indoor visual vicon system

A technology for navigation and positioning and unmanned aerial vehicles, which is applied in the field of unmanned aerial vehicle navigation and positioning based on indoor vision vicon system, to achieve the effect of reducing requirements, high-precision attitude and position accuracy

Active Publication Date: 2022-01-07
西安因诺航空科技有限公司
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Problems solved by technology

The Vicon system has high positioning accuracy and fast data update frequency, and can respond in real time to the position and attitude information of the UAV as a motion carrier. The delay of the Vicon system is less than 2.5ms (the maximum refresh rate is 400Hz), but it is limited by the current civilian unmanned Due to the hardware of the data link of the machine, the UAV as a movement carrier cannot accept the data that the data link brushes so fast and the data link is large.

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  • A navigation and positioning method for unmanned aerial vehicle based on indoor visual vicon system
  • A navigation and positioning method for unmanned aerial vehicle based on indoor visual vicon system
  • A navigation and positioning method for unmanned aerial vehicle based on indoor visual vicon system

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Embodiment Construction

[0074] The present invention is further described below in conjunction with accompanying drawing:

[0075] see Figure 1 to Figure 3 , the invention and patent will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0076] The structural diagram of this patent is shown in the figure, and the specific implementation process of this patent includes two steps:

[0077] The first step is to start the SDK of the Vicon system, and analyze the position and attitude data of the UAV as the motion carrier obtained by the Vicon system through the wireless data link. The position includes the three-axis position and attitude in the local coordinate system of the Vicon system. Including the drone's roll, pitch and heading information between the X-axis of the Vicon system and the X-axis of the drone's own coordinate system (front lower right);

[0078] In the second step, the UAV receives the attitude and position data uploaded by the V...

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Abstract

A kind of unmanned aerial vehicle navigation positioning method based on indoor visual vicon system, comprises the following steps: Step 1, start the SDK of Vicon system, and the position and the position and Attitude data; step 2, the UAV receives the attitude and position data uploaded by the Vicon system through the wireless data link, and uses this as the measurement of the integrated navigation algorithm combined with the inertial navigation equipment on the UAV to perform integrated navigation and output in real time The position, velocity and attitude information of the drone. The combined navigation algorithm based on Vicon+INS proposed by the present invention can realize the high-precision attitude and position accuracy of the UAV indoors; estimate the motion speed of the UAV under indoor conditions; reduce the requirements for data links; Researchers are more focused on the research of upper-level algorithms.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, in particular to a method for navigation and positioning of unmanned aerial vehicles based on an indoor visual vicon system. Background technique [0002] In order to facilitate the research of UAV cluster algorithm, formation coordination algorithm, artificial intelligence algorithm, and intelligent control algorithm, an indoor positioning system laboratory was built, and UAV was used as the controlled object for research. [0003] Since the drone flies indoors and cannot receive GPS signals, an external positioning system is required. Vision-based British Vicon system is a good solution. The Vicon system has high positioning accuracy and fast data update frequency, and can respond in real time to the position and attitude information of the UAV as a motion carrier. The delay of the Vicon system is less than 2.5ms (the maximum refresh rate is 400Hz), but it is limited by the cu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 李定涌闫永驰陈朋印
Owner 西安因诺航空科技有限公司
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