基于惯性导航与视觉导航组合的农业植保无人机自主飞行技术研究

Agricultural Plant Protection UAV Based on Inertial Navigation and Visual Navigation Research on Autonomous Flight Technology

目前单一的无人机导航技术都存在一定的缺陷,本文提出了一种惯性导航与视觉导航组合的农业植保无人机自主飞行技术,该方法首先对IMU中加速度计的数据进行去噪处理,然后将惯性导航和视觉导航分别解算出的位姿信息进行数据融合后再进行后端优化和三维建图,从而能够实现植保无人机的自主导航和自动路径规划。仿真实验证明:融合后的无人机位姿数据更稳定、误差更小。

At present,the single UAV navigation technology has some defects.This paper proposes an autonomous flight technology of agricultural plant protection UAV based on the combination of inertial navigation and visual navigation.This method first denoises the data of accelerometer in IMU,then,the position and attitude information calculated by inertial navigation and visual navigation are fused,and then the back-end optimization and threedimensional mapping are carried out,so as to realize the autonomous navigation and automatic path planning of plant protection UAV.Simulation results show that the UAV pose data after fusion is more stable and less error.