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CN110058602A 基于深度视觉的多旋翼无人机自主定位方法 无效 - 撤回

基于深度视觉的多旋翼无人机自主定位方法
摘要：
本发明涉及无人机定位控制，为提高无人机在复杂环境下的自主定位导航能力，完成无人机的高精度控制与复杂飞行任务。本发明采用的技术方案是，基于深度视觉的多旋翼无人机自主定位方法，首先搭建多旋翼无人机系统的硬件平台，包括：多旋翼无人机的本体、深度摄像头、SLAM算法执行机载处理器和定位跟踪机载处理器；深度传感器包括彩色摄像头和深度摄像头，SLAM算法执行机载处理器进行运算和图像处理，定位跟踪机载处理器集成有三轴加速度计、三轴陀螺仪、三轴磁力计和气压计微传感器，用于实现定位悬停、轨迹跟踪飞行任务，所述处理器通过数据接口连接实现与地面实时通信。本发明主要应用于多旋翼无人机自主定位场合。
摘要（英）：

The invention relates to unmanned aerial vehicle (UAV) locating control.Autonomous locating and navigation capability of a UAV in a complex environment is improved, and high-precision control and a complex flight task of the UAV are completed. According to the technical scheme,a hardware platform of a multi-rotor UAV system is built based on a multi-rotor UAV autonomous locating method based on depth vision andcomprisesa multi-rotor UAV body, a depth camera, a SLAM algorithm execution onboard processor, and a locating tracking onboard processor; a depth sensor comprisesa color camera and the depth camera, the SLAM algorithm execution onboard processor is used for operation and image processing, the locating tracking onboard processor integrates a triaxial accelerometer, a three-axis gyroscope,a three-axis magnetometer, and a barometer microsensor and is used for realizing flight tasks oflocating hovering and trajectory tracking, and the processor communicates with the ground in real time through data interface connection. Themulti-rotor UAV autonomous locating method based on depth vision is mainly applied to autonomous locatingsituations of the multi-rotor UAV.

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