摘要
由于卫星定位信号不能传入室内环境,为了解决无人机在无卫星信号条件下的位置控制问题,文章提出了一种基于光流传感器的四旋翼飞行器定点位置测算与悬停算法。本方法利用安装在飞行器底部的光流传感器检测水平移动速度,经过特定的干扰信号排除与IMU数据融合校准后获得可信的水平速度,实现飞行器的定点悬停。在本实验所使用的F330飞行测试平台上,文章所述算法能够较好的实现四旋翼的位置控制,对四旋翼飞行器在无卫星信号环境下的控制具有一定参考价值。
In this paper,we proposed a quadrotor＇s spot hover control method based on optical flow sensors to release the position control problem while the unmanned aerial vehicle cannot receive the satellite guide signal. This method takes the optical flow sensors settled at the bottom of the quadrotor to detect the horizontal speed and meets the spot holding demand by some specific ways of eliminating interference signals and IMU data fusion. The proposed method has well met the demand of quadrotor hover control on F330 test platform which has important instructive meaning to the quadrotor hover control without satellite guide signal situation.
作者
刘涵
郑鑫
张未辰
刘文迪
稂时楠
LIU Han;ZHENG Xin;ZHANG Wei-chen;LIU Wen-di;LANG Shi-nan(College of Electronic Information and Control Engineering,Beijing University of Technology,Beijing 100124,China)
出处
《电子设计工程》
2018年第10期8-12,共5页
Electronic Design Engineering
基金
中国博士后科学基金(2016M591036)
