无人机室内自主定位方法研究

Research on Indoor Autonomous Positioning Method of UAV

无人机具有灵活性高、成本低、适应性强等优点,因此在军事和民用等领域应用广泛。目前无人机应用环境多在室外,而在较为复杂的室内环境中,信号屏蔽、磁场干扰等都成为其室内应用的制约因素。针对无人机室内难以精准定位问题,提出了一种基于双目技术的无人机室内自主定位方法。以T型地标作为参照物,选择地标中几何分布好、数量适中的角点作为三维坐标解算的特征点,使用双目校正算法解算视差,最后利用坐标转换计算无人机的精确三维位置信息。经实验测试验证了论文方法的有效性。

Unmanned aerial vehicles have the advantages of high flexibility,low cost,and strong adaptability,so they are widely used in military and civilian fields.At present,the application environment of unmanned aerial vehicles is mostly outdoors,and in more complicated indoor environments,signal shielding and magnetic field interference have become constraints for its indoor applications.Aiming at the problem that it is difficult to accurately locate indoors of drones,a method for autonomous localization of drones based on binocular technology is proposed.T-shaped landmarks is taken as reference objects,the geometrically distributed and moderate number of corner points in the landmarks are selected as the feature points of the three-dimensional coordinate solution,the binocular correction algorithm is used to solve the parallax,and finally coordinate conversion is used to calculate the precise three-dimensional position of the drone information.The experimental test verifies the effectiveness of this method.