Indoor Multi-UAV Real-Time Navigation Control System and Method Based on Photoelectric Calibration

Abstract

The present invention discloses an indoor multi-UAV real-time navigation control system and method based on photoelectric calibration, belonging to the technical field of positioning navigation and control. The system includes a photoelectric calibration system, a multi-functional ground station, a cloud intelligent analysis system, and a UAV remote controller. First, start each UAV and the multi-functional ground station, and configure the relevant parameters of the UAV and the remote controller; the ground station displays the UAV pose information in real time and transmits it back to the photoelectric calibration system and the cloud intelligent analysis system; the cloud intelligent analysis system analyzes based on the intelligent navigation planning algorithm, obtains the accurate target position information of each UAV under the photoelectric calibration system, and sends it to the specified UAV; the UAV continuously flies according to the new target position and displays its accurate position in real time in the photoelectric calibration system, and the operator can use the remote controller to adjust the navigation control. This method can be effectively applied to the problem of multi-UAV navigation control in an indoor environment, and is of great significance for the development and construction of related industries.

Description

Technical Field

[0001] The present invention belongs to the technical field of positioning, navigation and control, and particularly relates to an indoor multi-UAV real-time navigation control system and method based on photoelectric calibration. Background Art

[0002] With the rapid development of the UAV industry, the application scale of multi-UAV collaborative missions in forest fire prevention, circuit inspection, earthquake relief and other fields has been continuously expanding. Among many UAV-related technologies, UAV swarm navigation technology has become an increasingly important research content.

[0003] A UAV navigation system generally includes UAV on-board navigation equipment, a UAV remote controller, a ground control station, etc. However, existing ground station control systems often only have functions such as simple parameter configuration, status display, and fixed-point path planning, and most are for single-UAV navigation services, which cannot meet the requirements of increasingly complex UAV swarm high-precision and high-reliability navigation tasks.

[0004] Nowadays, with the rapid development of component levels and cutting-edge technologies such as artificial intelligence, the combination of high-performance sensors, communication transmission equipment, cloud platform big data algorithm libraries, etc. with UAV systems has become a development trend, and many new ideas and methods have been provided in UAV navigation control. For example, in addition to the UAV pose information feedback and display, a real-time image and video display function based on on-board vision sensors is added, and combined with the information fusion processing system in the background cloud to generate dynamic planning waypoints that meet the task requirements. At the same time, the photoelectric calibration system provides accurate coordinates for UAVs and waypoints in real time, more effectively assisting UAVs to achieve fast and effective navigation capabilities. Summary of the Invention

[0005] The purpose of the present invention is to provide an indoor multi-UAV real-time navigation control system and method based on photoelectric calibration, which makes up for the defects of the traditional UAV navigation system with single function and poor reliability, enhances the self-adaptability and credibility of UAV navigation planning, and meets the requirements of UAV mission execution. This system can be applied to multi-UAV mission scenarios in indoor environments to achieve multi-UAV navigation control capabilities.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0007] An indoor multi-UAV real-time navigation control system based on photoelectric calibration includes a multi-functional ground station, a photoelectric calibration system, a cloud intelligent analysis system, and a UAV remote controller; wherein the multi-functional ground station includes a UAV and remote controller parameter adjustment system, a video and flight status display system, and a multi-UAV path planning system;

[0008] The UAV and remote controller parameter adjustment system is used to configure the parameters of the UAV and the UAV remote controller;

[0009] A video and flight status display system, which is used to receive and display the visual and pose information transmitted back by the UAV, and send the visual and pose information to the cloud intelligent analysis system;

[0010] The cloud intelligent analysis system is used to analyze the visual and pose information transmitted back by the UAV's on-board sensors based on the intelligent flight path planning algorithm, and generate auxiliary path planning information to be sent to the multi-UAV path planning system; among them, the intelligent flight path planning algorithm adopts a two-layer planning framework. The front end performs path search through an improved hybrid particle swarm algorithm to find an obstacle-free route, and the back end combines the dynamics of the robot to optimize the generated route to generate path information for the UAV to move smoothly;

[0011] The multi-UAV path planning system is used to process the auxiliary path planning information to form UAV target position information, and perform precision under the assistance of the optoelectronic calibration system, and send the precise target position to the UAV;

[0012] The optoelectronic calibration system is used to assist the multi-UAV path planning system to precision the UAV target position information, and display the current real-time precise position transmitted by the UAV;

[0013] The UAV remote controller is used to control the takeoff, landing and manual assisted flight of the UAV according to the current real-time precise position of the UAV displayed by the optoelectronic calibration system.

[0014] Furthermore, an indoor multi-UAV real-time navigation and control method based on optoelectronic calibration includes the following processes:

[0015] (1) Start the UAV and the multi-functional ground station, turn on the UAV and remote controller parameter adjustment system of the multi-functional ground station, and configure the UAV and UAV remote controller parameters, including aircraft type selection, remote controller auxiliary channel output, ESC parameter calibration and accelerometer calibration;

[0016] (2) Start the on-board vision and inertial sensors on the UAV, and transmit the visual and pose information back to the video and flight status display system of the multi-functional ground station through the WiFi link;

[0017] (3) The video and flight status display system displays the image pose information in real time, and transmits it to the cloud intelligent analysis system through the wired network. At the same time, the UAV displays its own precise position in real time in the optoelectronic calibration system through the on-board optoelectronic calibration ball;

[0018] (4) The cloud intelligent analysis system analyzes the visual and pose information transmitted back by the on-board vision and inertial sensors based on the intelligent flight path planning algorithm, quickly generates an obstacle-free route at the front end, and performs optimization at the back end, and generates auxiliary path planning information to be sent to the multi-UAV path planning system;

[0019] (5) The multi-UAV path planning system processes the auxiliary path planning information, plans the precise initial target position information of each UAV under the optoelectronic calibration system, and sends it to the specified UAV through the WiFi network;

[0020] (6) Each UAV navigates and flies according to the precise initial target position information. The multi-UAV path planning system continuously sends new precise target position instructions to each UAV to achieve track update and change, and finally reaches the target point to complete navigation. During the flight, the UAV remote controller is used to adjust the navigation control of the UAV according to the current precise position of the UAV displayed by the optoelectronic calibration system.

[0021] The beneficial effects of the present invention compared with the prior art are as follows:

[0022] (1) The present invention is oriented to the navigation control application of UAVs in the actual flight in the indoor environment, designs a multi-UAV real-time navigation control method, and can provide accurate and reliable positioning information for UAVs respectively during the navigation process to meet the real-time control requirements of multiple UAVs.

[0023] (2) In the present invention, the optoelectronic calibration system is combined with the multi-functional ground station to design a UAV navigation control system with functions of parameter adjustment, status display and intelligent analysis, and precise path planning, which solves the problem of precise reliability in the navigation process of multiple UAVs.

[0024] (3) The present invention combines the traditional navigation system with the cloud intelligent analysis system, and uses intelligent algorithms and big data analysis and processing technologies to fuse and analyze the UAV situation information, which can provide intelligent assistance for UAV path planning. Brief Description of the Drawings

[0025] Figure 1 is the design schematic diagram of the present invention. Detailed Embodiment

[0026] The following further describes the present invention with reference to the drawings and embodiments.

[0027] As Figure 1 shown, an indoor multi-UAV real-time navigation control system based on optoelectronic calibration includes a multi-functional ground station, an optoelectronic calibration system, a cloud intelligent analysis system and a UAV remote controller; wherein the multi-functional ground station includes a UAV and remote controller parameter adjustment system, a video and flight status display system, and a multi-UAV path planning system;

[0028] The UAV and remote controller parameter adjustment system is used to configure the parameters of the UAV and the UAV remote controller;

[0029] A video and flight status display system, which is used to receive and display the visual and pose information transmitted back by the UAV, and send the visual and pose information to the cloud intelligent analysis system;

[0030] The cloud intelligent analysis system is used to analyze the visual and pose information transmitted back by the UAV's on-board sensors based on the intelligent trajectory planning algorithm, and generate auxiliary path planning information to be sent to the multi-UAV path planning system; the intelligent trajectory planning algorithm adopts a two-layer planning framework. At the front end, an improved hybrid particle swarm algorithm is used for path search to find an obstacle-free route. At the back end, combined with the dynamics of the robot, the generated route is optimized to generate path information for the UAV to move smoothly;

[0031] The multi-UAV path planning system is used to process the auxiliary path planning information to form UAV target position information, and perform precision under the assistance of the optoelectronic calibration system, and send the precise target position to the UAV;

[0032] The optoelectronic calibration system is used to assist the multi-UAV path planning system to precision the UAV target position information and display the current real-time precise position transmitted by the UAV;

[0033] The UAV remote controller is used to control the takeoff, landing and manual assisted flight of the UAV according to the current real-time precise position of the UAV displayed by the optoelectronic calibration system.

[0034] Taking the navigation control of three quadrotor UAVs in an indoor environment as an example, an indoor multi-UAV real-time navigation control method based on optoelectronic calibration includes the following content:

[0035] (1) Turn on UAVs A, B, and C, lay them flat and calibrate the electronic speed controllers and accelerometers respectively, and turn on the visual and inertial sensors respectively; turn on the router, connect the three UAVs and the ground station computer to the same WiFi wireless local area network, assign IP addresses respectively and check the connectivity.

[0036] (2) Start the multi-functional ground station, turn on the UAV and remote controller parameter adjustment system, select the quadcopter type for the aircraft, and set the auxiliary channel output to one-key start and landing mode; turn on the video and flight status display system, and observe the transmission and real-time display of the UAV's visual information and pose information; turn on the multi-UAV path planning system.

[0037] (3) Turn on the cloud intelligent analysis system, connect it to the multi-functional ground station computer in a wired manner, and observe the transmission of the situation information of UAVs A, B, and C.

[0038] (4) Turn on the optoelectronic calibration system, and observe the accurate real-time position display of UAVs A, B, and C under the optoelectronic calibration system.

[0039] (5) Use the remote control to start drones A, B, and C with one key. After the three drones fly to a fixed altitude, switch to the navigation mode.

[0040] (6) The cloud intelligent analysis system sends the planned waypoints based on the backhaul situation and the intelligent flight path planning algorithm to drones A, B, and C respectively through the multi - drone path planning system. Each drone starts flying according to the waypoints; during the flight, observe the precise real - time position of the drones in the optoelectronic calibration system, and use the remote control to manually adjust the flight path of the drones with excessive deviation.

[0041] (7) Keep repeating (6) until drones A, B, and C reach the specified target points respectively. Use the remote control to land the drones with one key to complete the multi - drone navigation.

[0042] In summary, the navigation control method designed by the present invention for multi - drone applications has the advantages of comprehensive functions and strong navigation reliability.

[0043] The present invention can be applied to the scenario of multi - drone collaborative task execution in an indoor environment. Based on the optoelectronic calibration system combined with a multi - functional ground station and a background cloud intelligent analysis system, it solves the problem of the precise and reliable navigation ability of the drone platform.

Claims

1. An indoor multi-UAV real-time navigation control system based on photoelectric calibration, characterized in that, It includes a multi-functional ground station, an optoelectronic calibration system, a cloud intelligent analysis system, and a drone remote controller; Among them, the multi-functional ground station includes a drone and remote controller parameter adjustment system, a video and flight status display system, and a multi-drone path planning system; The drone and remote controller parameter adjustment system is used to configure the parameters of the drone and the drone remote controller; The video and flight status display system is used to receive and display the visual and pose information transmitted back by the drone, and send the visual and pose information to the cloud intelligent analysis system; The cloud intelligent analysis system is used to analyze the visual and pose information transmitted back by the drone's on-board sensors based on the intelligent trajectory planning algorithm, and generate auxiliary path planning information to be sent to the multi-drone path planning system; Among them, the intelligent trajectory planning algorithm adopts a two-layer planning framework. The front end searches for a path through an improved hybrid particle swarm algorithm to find an obstacle-free route. The back end combines the dynamics of the robot to optimize the generated route and generate path information for the drone to move smoothly; The multi-drone path planning system is used to process the auxiliary path planning information, form the drone target position information, and refine it with the assistance of the optoelectronic calibration system, and send the accurate target position to the drone; The optoelectronic calibration system is used to assist the multi-drone path planning system in refining the drone target position information and display the current real-time accurate position transmitted by the drone; The drone remote controller is used to control the takeoff, landing, and manual assisted flight of the drone according to the current real-time accurate position of the drone displayed by the optoelectronic calibration system.

2. An indoor multi-UAV real-time navigation control method based on photoelectric calibration, characterized in that, It includes the following processes: (1) Start the drone and the multi-functional ground station, turn on the drone and remote controller parameter adjustment system of the multi-functional ground station, and configure the parameters of the drone and the drone remote controller, including aircraft type selection, remote controller auxiliary channel output, ESC parameter calibration, and accelerometer calibration; (2) Start the on-board vision and inertial sensors on the drone, and transmit the visual and pose information back to the video and flight status display system of the multi-functional ground station through the WiFi link; (3) The video and flight status display system displays the image pose information in real time and transmits it to the cloud intelligent analysis system via a wired network. At the same time, the drone displays its accurate position in real time in the optoelectronic calibration system through the on-board optoelectronic calibration ball; (4) The cloud intelligent analysis system analyzes the visual and pose information transmitted back by the on-board vision and inertial sensors based on the intelligent trajectory planning algorithm, quickly generates an obstacle-free route at the front end, and optimizes it at the back end to generate auxiliary path planning information to be sent to the multi-drone path planning system; (5) The multi-drone path planning system processes the auxiliary path planning information, plans the accurate initial target position information of each drone under the optoelectronic calibration system, and sends it to the specified drone through the WiFi network; (6) Each unmanned aerial vehicle (UAV) navigates and flies according to the accurate initial target position information. The multi-UAV path planning system continuously sends new accurate target position instructions to each UAV to achieve the update and change of the flight path and finally reach the target point to complete the navigation. During the flight, the UAV is navigated and controlled and adjusted using the UAV remote controller based on the current accurate position of the UAV displayed by the optoelectronic calibration system.

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