基于MSP432与OptiTrack的无人机室内导航系统设计

Design of UAV Indoor Navigation System Based on MSP432 and OptiTrack

该文针对室内无人机导航飞行控制技术进行了研究,系统以实现无人机室内自主编队巡逻、识别及定位悬停为研究目标,提出了一种实现室内编队飞行及定位悬停的方法。首先,无人机采用基于MSP432的TIVA飞控,结合OptiTrack三维定位技术向无人机传输的实时坐标,实现无人机在室内的精准定位与辅助编队飞行;其次,由无人机上超声波测距模块来确定障碍物的位置,引导多个无人机自行协调最优队形并及时避障;最后,通过无线串口模块将障碍物位置发送给上位机。通过多次试验数据表明,所提出的方法具有较好的稳定性和实时性。

This paper studies the navigation and flight control technology of indoor UAV. Aiming at realizing the indoor autonomous formation patrol,identification and hovering location of UAV,the system puts forward a method to realize indoor formation flight. Firstly,the UAV adopts TIVA flight control based on MSP432 and real-time coordinates transmitted to the UAV combined with OptiTrack three-dimensional positioning technology to realize the indoor accurate positioning and auxiliary formation flight of UAV. Secondly,the ultrasonic distance measuring module on the UAV determines the location of the obstacle,and guides multiple UAVs to coordinate the optimal formation and avoid obstacles in time. Finally,the obstacle location is sent to the host computer through the wireless serial port module.The experimental data show that the proposed method has good stability and real-time performance.