融合光流-惯导信息的无人机组合导航系统

UAV integrated navigation system based on optical flow and inertial navigation

四旋翼无人机携带动力装置,利用空气动力来抵消自身的重量,具有体积小、重量轻等优势,广泛应用在工业和农业领域。目前四旋翼无人机大都利用全球定位系统和惯性导航系统进行组合导航,但是在某些复杂环境中,特别是室内环境或是人类无法抵达的狭隘地域,如矿洞探索或是灾后救援,卫星导航信息并不可靠,甚至无法获取。本文设计了一种融合惯性导航与光流信息的四旋翼无人机组合导航系统,并对室内环境下四旋翼飞行器的导航控制与定位进行了实验研究。实验结果表明,该系统在室内无GPS的环境下,可以自适应地调整无人机自身速度和位置,能够有效地进行室内导航与目标定位。

The four-rotor UAV equipped with power plant which uses aerodynamics to counteract its own weight has the advantages of small size and light weight.It is widely used in industry and agriculture.At present,most quadrotors use GPS and INS technology for integrated navigation.But in some complex environments,particularly indoors or in narrowareas inaccessible to humans,such as mine exploration or disaster relief,satellite navigation information is unreliable or even unavailable.In this paper,a four-rotor UAV integrated navigation system which integrates inertial navigation and optical flowinformation is designed.Experimental results showthat it can adaptively adjust the speed and position of the UAV,and can effectively conduct indoor navigation and positioning.