室内无人机定点悬控系统被引量：1

Indoor UAV Fixed Point Suspension Control System

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摘要针对室内环境下无人机传统定位方法失效的问题,设计了一种基于图像处理的室内定位方法,上位机通过外部相机采集定位空间的斜投影图像,经颜色空间处理与分析后确定无人机机体质心投影点位置;结合机载高度传感器获得的竖直位置信息,成功解算出无人机水平坐标,克服了传统定位方法存在的位置漂移和精度低问题。利用上述方法结合机载惯性测量单元进行了室内定点悬停实验,验证了该定位方案的可行性。 An indoor location method based on image processing is developed for indoor UAV.After getting the oblique projection image of the positioning area by the camera,the host computer determines the location of the projection point of the mass center of the UAV by analysing color space.The horizontal coordinates of the UAV are determined with the UAV's altitude.It overcomes shortcoming of the position drift and the low precision in the traditional location method.The validity of the method is proved in the UAV's indoor fixed point hovering experiment.

作者孟令康秦海超鲍丹阳 MENG Lingkang;QIN Haichao;BAO Danyang(School of mechatronics and automation,Harbin Institute of Technology(Shenzhen),Shenzhen 518000,China)

机构地区哈尔滨工业大学(深圳)机电工程与自动化学院

出处《机械制造与自动化》 2020年第2期203-207,共5页 Machine Building & Automation

关键词室内定位图像处理四旋翼无人机飞行控制定点悬停 indoor location image processing UVA flight control fixed point hovering

分类号 TP242.6 [自动化与计算机技术—检测技术与自动化装置]

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