CN103196453A - Design of four-axis aircraft visual navigation system - Google Patents
Design of four-axis aircraft visual navigation system Download PDFInfo
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- CN103196453A CN103196453A CN 201310138790 CN201310138790A CN103196453A CN 103196453 A CN103196453 A CN 103196453A CN 201310138790 CN201310138790 CN 201310138790 CN 201310138790 A CN201310138790 A CN 201310138790A CN 103196453 A CN103196453 A CN 103196453A
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Abstract
The invention belongs to the field of visual navigation, and in particular relates to design of a four-axis aircraft visual navigation system, which comprises a visual system module, an inertial navigation measuring module, a visual image wireless transmission module, a visual image processing module and an aircraft motion control module; a machine-mounted camera and an inertial measurement element are adopted for achieving on-line measurement; the collected information is treated off line through a wireless transmission mode and is wirelessly transmitted back to a machine-mounted high-speed processor for achieving control, therefore, the requirement on weight of the aircraft and control accuracy is solved, and the problem of transmission delay is solved through adding delay information in a navigation algorithm. The four-axis aircraft visual navigation systematic disclosed by the design has important application value.
Description
Technical field
The invention belongs to the vision guided navigation field, relate to a kind of four-axle aircraft vision navigation system design, particularly a kind of design that can realize the collection of four-axle aircraft visual information, wireless transmission, measuring position, inertial navigation unit attitude, four-axle aircraft flight control function.
Background technology
Four-axle aircraft is a kind of unmanned plane (UAV) of form, and unmanned plane uses GPS (GPS) navigator fix and inertial navigation system (IMU).The estimated accuracy of GPS directly depends on the quantity of the satellite that participates in the location and the influence that receiving equipment receives quality of signals and radio station.In addition, the radio frequency interference of neighbouring device or channel stop up all may cause the unreliable of location estimation, and these problems are ubiquities and are difficult to solve.When can't using or obtain effective gps signal, the navigational system of unmanned plane can only rely on inertial navigation system, and high-precision inertial navigation system is fixed against high-precision sensor, and this has increased cost on the one hand, has increased the load of unmanned plane on the one hand.In addition, owing to the site error growth in time of inertial navigation system accumulates, so must be proofreaied and correct by external information, if carry as settings such as radio, laser scanners, for middle-size and small-size unmanned plane (MUAV), load weight is a maximum constraints.
Adopt airborne camera, inertial navigation system, realize on-line measurement, and the mode by wireless transmission is with the information processed offline of gathering, thereby realize control at the wireless onboard high-speed processor that sends back, solve aircraft weight like this and controlled refining requirement, therefore the problem that has transmission delay so again should add the deferred message compensation in navigation algorithm.The four-axle aircraft vision navigation system that the design proposes has important use and is worth.
Summary of the invention
Technical matters to be solved by this invention is, designs a kind of four-axle aircraft vision navigation system, realizes utilizing visual pattern information and inertial measurement component to determine the function of carrier positions.The technical solution adopted in the present invention is: a kind of four-axle aircraft vision navigation system, include vision system module (1), inertial navigation measurement module (2), visual pattern wireless transport module (3), visual pattern processing module (4), aircraft movements control module (5), the functional description of each module is as follows:
Vision system module (1) is airborne camera and timing circuit, realizes collection and the transmission timing of visual pattern, handles for next step image and prepares; Inertial navigation measurement module (2) utilizes gyroscope and acceleration to take into account direction, acceleration, pressure (highly) information that pressure transducer is measured aircraft, obtains the inertial navigation data that follow-up carrier positions is estimated; Visual pattern wireless transport module (3) is realized between airborne camera and pattern process computer, the wireless transmission between pattern process computer and microprocessor; Visual pattern processing module (4) is made up of off-line, realizes image characteristics extraction, tracking, identification, provides the location estimation based on the four-axle aircraft of image information; Aircraft movements control module (5) realizes the control of four spindle motor rotating speeds based on microprocessor, control algolithm.
The measure of taking also comprises:
Timer in the above-mentioned vision system module module (1) can be selected the timer of different positions according to timing accuracy.
Gyroscope and accelerometer in the above-mentioned inertial navigation measurement module (2) are MEMS.
Treatment of picture adopts optical flow analysis method and Fast Corner method in the above-mentioned visual pattern processing module (4), introduces the compensation of image transmission delay simultaneously.
In the above-mentioned aircraft movements control module (5), adopt the location estimation of Kalman filtering algorithm fused images and inertial navigation, adopt the PID controller to realize the rotating speed control of four spindle motors.
The objective of the invention is to the four-axle aircraft vision navigation system that design weight is light, cost is low, function is complete.Realize the vision assisting navigation by 5 above-mentioned functional modules, have very strong practicality.
Description of drawings
Fig. 1 is one-piece construction figure of the present invention.
Embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
The real-time captured target image of airborne camera in the vision system module, timing circuit will pick up counting in the present image wireless transmission, after this image is finished dealing with and exported microprocessor, finish timing, this time interval is transmission delay, for transmission delay compensation in the filtering of back is used.The inertial navigation measurement module utilizes direction and the acceleration information of MEMS gyroscope and accelerometer measures aircraft, and then can calculate positional information, and pressure transducer is measured the pressure of aircraft height of living in, and changes into height value.The visual pattern wireless transport module is responsible between airborne camera and pattern process computer, the wireless transmission between pattern process computer and microprocessor; The visual pattern processing module realizes image characteristics extraction, tracking, identification by off-line, provides the location estimation based on the four-axle aircraft of image information; The aircraft movements control module realizes the control of four spindle motor rotating speeds based on microprocessor, kalman filtering algorithm and pid control algorithm.
The invention has the advantages that the four-axle aircraft vision navigation system of design is simple in structure, with low cost, easy to operate, multiple functional.
Claims (5)
1. the present invention designs a kind of four-axle aircraft vision navigation system, realizes utilizing visual pattern information and inertial measurement component to determine the function of carrier positions.The technical solution adopted in the present invention is: a kind of four-axle aircraft vision navigation system, include vision system module (1), inertial navigation measurement module (2), visual pattern wireless transport module (3), visual pattern processing module (4), aircraft movements control module (5).It is characterized in that: vision system module (1) is airborne camera and timing circuit, realizes collection and the transmission timing of visual pattern, handles for next step image and prepares; Inertial navigation measurement module (2) utilizes gyroscope and acceleration to take into account direction, acceleration, pressure (highly) information that pressure transducer is measured aircraft, obtains the inertial navigation data that follow-up carrier positions is estimated; Visual pattern wireless transport module (3) is realized between airborne camera and pattern process computer, the wireless transmission between pattern process computer and microprocessor; Visual pattern processing module (4) is made up of off-line, realizes image characteristics extraction, tracking, identification, provides the location estimation based on the four-axle aircraft of image information; Aircraft movements control module (5) realizes the control of four spindle motor rotating speeds based on microprocessor, control algolithm.
2. a kind of four-axle aircraft vision navigation system according to claim 1 is characterized in that, the timer in the described vision system module module (1) can be selected the timer of different positions according to timing accuracy.
3. a kind of four-axle aircraft vision navigation system according to claim 1 is characterized in that, gyroscope and accelerometer in the described inertial navigation measurement module (2) are MEMS.
4. a kind of four-axle aircraft vision navigation system according to claim 1 is characterized in that, treatment of picture adopts optical flow analysis method and Fast Corner method in the described visual pattern processing module (4), introduces the compensation of image transmission delay simultaneously.
5. a kind of four-axle aircraft vision navigation system according to claim 1, it is characterized in that, in the described aircraft movements control module (5), adopt the location estimation of Kalman filtering algorithm fused images and inertial navigation, adopt the PID controller to realize the rotating speed control of four spindle motors.
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| CN 201310138790 CN103196453A (en) | 2013-04-19 | 2013-04-19 | Design of four-axis aircraft visual navigation system |
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| CN 201310138790 CN103196453A (en) | 2013-04-19 | 2013-04-19 | Design of four-axis aircraft visual navigation system |
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| CN103196453A true CN103196453A (en) | 2013-07-10 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103697881A (en) * | 2013-12-27 | 2014-04-02 | 北京航天时代光电科技有限公司 | High-reliability redundant four-shaft optical fiber gyroscope inertia measurement device |
| CN104460685A (en) * | 2014-11-21 | 2015-03-25 | 南京信息工程大学 | Control system for four-rotor aircraft and control method of control system |
| CN104590552A (en) * | 2014-12-08 | 2015-05-06 | 天津大学 | Miniature multi-rotor aircraft based on visual navigation |
| CN105197252A (en) * | 2015-09-17 | 2015-12-30 | 武汉理工大学 | Small-size unmanned aerial vehicle landing method and system |
| CN105407330A (en) * | 2015-12-21 | 2016-03-16 | 中国航天空气动力技术研究院 | Method for reducing influence from link delay to photoelectric load target locking |
| CN105589469A (en) * | 2014-10-21 | 2016-05-18 | 武汉乐享视界科技有限公司 | Quadcopter using Wi-Fi in manipulation and video transmission |
| CN109143305A (en) * | 2018-09-30 | 2019-01-04 | 百度在线网络技术（北京）有限公司 | Automobile navigation method and device |
-
2013
- 2013-04-19 CN CN 201310138790 patent/CN103196453A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103697881A (en) * | 2013-12-27 | 2014-04-02 | 北京航天时代光电科技有限公司 | High-reliability redundant four-shaft optical fiber gyroscope inertia measurement device |
| CN103697881B (en) * | 2013-12-27 | 2016-09-21 | 北京航天时代光电科技有限公司 | A kind of highly reliable redundancy-type four axle inertial measurement unit of optical fiber gyroscope |
| CN105589469A (en) * | 2014-10-21 | 2016-05-18 | 武汉乐享视界科技有限公司 | Quadcopter using Wi-Fi in manipulation and video transmission |
| CN104460685A (en) * | 2014-11-21 | 2015-03-25 | 南京信息工程大学 | Control system for four-rotor aircraft and control method of control system |
| CN104590552A (en) * | 2014-12-08 | 2015-05-06 | 天津大学 | Miniature multi-rotor aircraft based on visual navigation |
| CN105197252A (en) * | 2015-09-17 | 2015-12-30 | 武汉理工大学 | Small-size unmanned aerial vehicle landing method and system |
| CN105407330A (en) * | 2015-12-21 | 2016-03-16 | 中国航天空气动力技术研究院 | Method for reducing influence from link delay to photoelectric load target locking |
| CN109143305A (en) * | 2018-09-30 | 2019-01-04 | 百度在线网络技术（北京）有限公司 | Automobile navigation method and device |
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Application publication date: 20130710 |