Underground unmanned aerial vehicle flight method and system

Abstract

The invention relates to an underground unmanned aerial vehicle flight method and system. A monocular camera, an ultrasonic sensor and an IMU are carried on an unmanned aerial vehicle. The method comprises the following steps: calculating first error information based on standard pose information measured by the IMU and measurement data of the IMU; calculating second error information based on standard pose information measured by the IMU and measurement data of the monocular camera and the ultrasonic sensor; and fusing the first error information and the second error information to obtain attitude error information, and performing flight control. Compared with the prior art, the method and system have the advantages that the first pose information is obtained based on the IMU, the second pose information is obtained based on the ultrasonic sensor and the monocular camera, the errors between the first pose information and the standard pose information measured by the IMU are calculated respectively, the attitude error information is obtained after the errors are fused, the attitude error information with higher accuracy can be obtained, the calculation speed is high, the application cost is low, and flight control of the unmanned aerial vehicle in an underground space without GPS signals is realized.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an underground unmanned aerial vehicle flight method and system. Background technique [0002] With the advancement of technology, the application of drones is becoming more and more extensive. Rotor UAV has the advantages of small size, low cost, high flexibility, and convenient use. It can be used in many fields such as underground, investigation, search, post-disaster rescue, and energy detection. It is especially suitable for some relatively dangerous or relatively small underground spaces. The work has broad application prospects, and the application of rotor UAVs in the underground environment has been a research hotspot in recent years. [0003] The attitude control of the UAV is an important guarantee for the normal flight of the UAV and the completion of the flight mission, and the determination of the UAV attitude is the basis for realizing the attitud...

AI Technical Summary

Problems solved by technology

However, the most popular rotor UAVs currently on the market mainly rely on GPS, IMU and other auxiliary sensors for attitude correction. In underground space, due to various technical limitations, especially the weak underground GPS signal, the attitude of UAVs cannot be corrected. Perception has become difficult, and small drones for search and rescue in underground environments are not yet widely available

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