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Indoor building space-oriented unmanned aerial vehicle autonomous flight system and simulation experiment platform

A simulation experiment and building space technology, applied in the field of unmanned aerial vehicles, can solve problems such as endangering personnel safety, and achieve the effect of ensuring high consistency, satisfying scene fidelity and model diversification

Pending Publication Date: 2022-05-13
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

In the event of a crash, it may also endanger the safety of personnel

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  • Indoor building space-oriented unmanned aerial vehicle autonomous flight system and simulation experiment platform
  • Indoor building space-oriented unmanned aerial vehicle autonomous flight system and simulation experiment platform
  • Indoor building space-oriented unmanned aerial vehicle autonomous flight system and simulation experiment platform

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Embodiment Construction

[0025] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0026] The invention provides a UAV autonomous flight system and a simulation experiment platform for indoor building space. The overall structure design of the UAV autonomous flight system is as follows: figure 1 shown. Among them, the navigation subsystem and the guidance subsystem have higher requirements on the autonomy of the UAV, which is also the focus of the system architecture design.

[0027] 1. The navigation subsystem includes the following modules:

[0028] (1) Sensing device: The sensing device includes a group of sensing devices that generate response signals to specific physical phenomena, and these signals reflect some characteristics or information of objective objects or physical phenomena. Commonly used sensors such as gyroscopes, accelerometers, magnetometers, barometers, cameras, and lidars usually provide raw measurement data for t...

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Abstract

The invention discloses an indoor building space-oriented unmanned aerial vehicle autonomous flight system and a simulation experiment platform, the unmanned aerial vehicle autonomous flight system adopts an overall structural design of navigation, guidance and flight control, and can enable an unmanned aerial vehicle to realize autonomous control and autonomously complete specific tasks in a GNSS rejection environment; the simulation experiment platform adopts a distributed system architecture, comprises simulation modeling of an unmanned aerial vehicle body and a task scene, supports ROS interface and PX4 software in-loop simulation at the same time, can quickly test and evaluate an algorithm module contained in an unmanned aerial vehicle autonomous flight system, and improves the reliability of the unmanned aerial vehicle autonomous flight system. And an effective simulation verification scheme is provided for the application of the related unmanned aerial vehicle technology in the real world.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an autonomous flight system and a simulation experiment platform of an unmanned aerial vehicle facing indoor building spaces. Background technique [0002] Unmanned Aerial Vehicle (UAV) is an unmanned aerial vehicle that can be remotely controlled by wireless devices or automatically controlled by onboard aircraft control equipment. Because of its strong concealment, rich functions, flexible operation and strong scalability, it has been widely concerned by researchers in various fields. Driven by the portable electronic equipment industry, electronic components such as microprocessors, sensors, batteries and wireless communication units are gradually advancing towards miniaturization and low cost. Thanks to this, small and micro drones have grown considerably in recent years. Compared with other UAV platforms, this type of UAV not only has the advan...

Claims

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Application Information

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IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 张佳李玥婷陈文颉曹盟孙舒凡薛志军陈杰
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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