一种四旋翼无人机定位的改进LK光流算法

An Improved LK Algorithm for Optical Flow Localization of Four Rotors

在无人机迅猛发展的今天,无人机的室内定位仍然是个难题,集中出现精度不高、不稳定、过长的延时等问题。提前布置室内环境提供定位信息方案成本高,且不符合经济效益。针对四旋翼无人机,提出一种改进后的LK光流算法,采用Shi-Tomasi角点检测算法、双线性插值法,提高无人机定位精度和稳定性。并将该算法在载机上实现。研究表明:改进后的LK光流法室内定位精度高,稳定性好;无人机在稳定光照条件下能进行定点飞行;定点精度为半径30 cm的圆形。

With the rapid development of unmanned aerial vehicles （UAV）, the indoor positioning of UAV is still a difficult problem. It is of high cost to provide location information in advance, and does not meet the economic benefits. An improved LK optical flow algorithm was proposed for four rotor unmanned aerial vehicle （UAV）, in which Shi-Tomasi corner detection algorithm and bilinear interpolation method were used to improve the positioning accuracy and stability of UAV. The algorithm was implemented on the computer. The results show that the improved LK optical flow method has high precision and good stability. UAV can carry on fixed point flight under the stable illumination condition. Fixed point accuracy is a circle with radius 30 cm.