摘要
针对目前四旋翼无人机自主降落精度较低,降落偏差较大的问题,设计了一种基于视觉定位的四旋翼无人机自主降落系统,该系统可以有效减少四旋翼无人机自主降落时所产生的偏差。该系统以STM32单片机和树莓派为系统核心,通过机身所带的传感器对飞行时的数据进行收集。系统会利用偏差值调整四旋翼的姿态与位置,最终完成四旋翼无人机的自主降落。此方案有效的提高了四旋翼无人机自主降落时的精度。
In view of the problems of low autonomous landing accuracy and large landing deviation of the current quadrotor UAV,a quad-rotor UAV autonomous landing system based on visual positioning is designed.The system can effectively reduce the deviation caused by the autonomous landing of the quadrotorUAV.The system takes STM32 single-chip microcomputer and Raspberry Pi as the core of the system,and obtains the real-time data of the system through the mounted sensors.The relative positional deviation of the machine and the visual sign.The system will use the deviation value to adjust the attitude and position of the quad-rotor,and finally complete the autonomous landing of the quad-rotor UAV.This solution effectively improves the accuracy of the quadrotor UAV when it is autonomously landing.
作者
郭嘉辰
朱文秀
白朋飞
王天淼
吴小凤
宁江峰
Guo Jiachen;Zhu Wenxiu;Bai Pengfei;Wang Tianmiao;Wu Xiaofeng;Ning Jiangfeng(School of Information and Control Engineering,Jilin Institute of Chemical Technology,Jilin 132022,China;College of Automation Engineering,Northeast Electric Power University,Jilin 132011,China)
出处
《科学技术创新》
2022年第35期193-196,共4页
Scientific and Technological Innovation
