CN106802152A - Four-axle aircraft indoor positioning and infrared obstacle avoidance method and system - Google Patents
Four-axle aircraft indoor positioning and infrared obstacle avoidance method and system Download PDFInfo
- Publication number
- CN106802152A CN106802152A CN201710176192.5A CN201710176192A CN106802152A CN 106802152 A CN106802152 A CN 106802152A CN 201710176192 A CN201710176192 A CN 201710176192A CN 106802152 A CN106802152 A CN 106802152A
- Authority
- CN
- China
- Prior art keywords
- axle aircraft
- obstacle avoidance
- control
- module
- infrared obstacle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
A kind of four-axle aircraft indoor positioning and infrared obstacle avoidance system, it includes four-axle aircraft, remote control, middle control；Four-axle aircraft simultaneously with remote control, middle control wireless communication connection；The four-axle aircraft includes flying control, light stream fixed point module, infrared obstacle avoidance module, receiver, the fixed module high of laser；Fly control module to be electrically connected with light stream fixed point module, infrared obstacle avoidance module, receiver, the fixed module high of laser simultaneously；Fly control for controlling the flight attitude information of four-axle aircraft；Light stream fixed point module is used to judging by the movement of luminous point and dim spot in detection image the translational speed of pixel in image relative to four-axle aircraft, and then realizes the light stream fixed point of four-axle aircraft；Infrared obstacle avoidance module is used to be realized by infrared ray the obstacle avoidance of four-axle aircraft；The fixed module high of laser, for realizing the fixed height of the laser of four axle Fetion devices by launching laser；Remote control is used to realize the remote control to four-axle aircraft.
Description
Technical field
The present invention relates to flying vehicles control technical field, more particularly to a kind of four-axle aircraft indoor positioning and infrared obstacle avoidance
Method and system.
Background technology
The machine of passing through is mainly used in sports flight, and manipulation flight is carried out using first person monitoring, and embodiment is speed
With the binding ability of manipulation, more focus on experience.Machine of taking photo by plane is used for the task of taking photo by plane of specialty, with easy to operate famous.Can be used for electricity
Film section shoots, forest cruise, scene of a fire monitoring etc..Generally speaking, pass through machine left-hand seat more difficult, be more biased towards being manipulated with technology.
Machine take photo by plane because left-hand seat is fairly simple, more relatively function shoots, and just like has developed into for a kind of equipment.
Four-axle aircraft is indoors under state of flight in the prior art, due to lacking GPS location, four-axle aircraft flight
When can disorderly float, simultaneously because the interior space is narrow and small, so being easy to aircraft bombing out of control when four-axle aircraft, playability is not
It is high.
The content of the invention
In view of this, the present invention proposes a kind of four-axle aircraft indoor positioning and infrared obstacle avoidance system, and it includes that four axles fly
Row device, remote control, middle control；Four-axle aircraft simultaneously with remote control, middle control wireless communication connection；
The four-axle aircraft includes flying control, light stream fixed point module, infrared obstacle avoidance module, receiver, the fixed module high of laser；Fly control
Module is electrically connected with light stream fixed point module, infrared obstacle avoidance module, receiver, the fixed module high of laser simultaneously；
Fly control for controlling the flight attitude information of four-axle aircraft；
Light stream fixed point module is used for by the movement of luminous point and dim spot in detection image come pixel in judging image relative to four
The translational speed of axle aircraft, and then realize the light stream fixed point of four-axle aircraft；
Infrared obstacle avoidance module is used to be realized by infrared ray the obstacle avoidance of four-axle aircraft；
The fixed module high of laser, for realizing the fixed height of the laser of four axle Fetion devices by launching laser；
Remote control is used to realize the remote control to four-axle aircraft.
The present invention also provides a kind of four-axle aircraft indoor positioning and infrared obstacle avoidance method, and it is used for described in claim 1
Four-axle aircraft indoor positioning and infrared obstacle avoidance system, it comprises the following steps：
S1, the hardware to four-axle aircraft in four-axle aircraft indoor positioning and infrared obstacle avoidance system carry out installation and debugging；And it is right
The light stream for flying control in four-axle aircraft indoor positioning and infrared obstacle avoidance system is configured；
S2, fixed debugging high is carried out to four-axle aircraft indoor positioning and infrared obstacle avoidance system；
S3, fixed point debugging is carried out to four-axle aircraft indoor positioning and infrared obstacle avoidance system；
S4, avoidance debugging is carried out to four-axle aircraft indoor positioning and infrared obstacle avoidance system.
The present invention also provides a kind of four-axle aircraft indoor positioning and infrared obstacle avoidance method,
The step S1 includes that hardware installation, firmware are installed, configuration flies three sub-steps of control；
The hardware installation sub-step includes：Please by camera lens perpendicular alignmnet ground, light flow module Y-axis mark alignment four-axle aircraft
Front；Light stream is installed and after connecting I2C lines, uses USB interface to connect and fly control and computer；
The newest APM firmwares of version are supported in the light stream based on 3.2.1 that firmware installs sub-step and includes that selection flying machine is provided
" FMarducopter3.21.px4 " now ejects following window, points out to extract USB port, then by OK button, then plugs again
Fly control；
Configuration flies control sub-step to be included：MissionPlanner connections fly control, into configuration/debugging-whole parameter lists,
Find FLOW_ENABLE and value is changed to 1
Find AHRS_EKF_USE and value is changed to 1
According to whether using GPS, EKF_GPS_TYPE is found by being provided below：
0:Every day use GPS location, light stream is automatically switched when GPS fails, for outdoor flight；
3:Simply positioned with light stream, ignore GPS location, for indoor flight.
The present invention also provides a kind of four-axle aircraft indoor positioning and infrared obstacle avoidance method,
The step S2 includes：Configuration flies control, ground validation sub-step；
Configuration flies control to be included：MissionPlanner connections fly control, into configuration/debugging-whole parameter lists,
Find RNGFNG_TYPE and value is changed to 4；
Ground validation sub-step includes that connection flies control and selects status page in the flying quality page lower left corner, and dragging scroll bar is to most
Afterwards, aircraft is moved up and down, checks whether sonarrange has numerical value.
The present invention also provides a kind of four-axle aircraft indoor positioning and infrared obstacle avoidance method,
The step S3 includes ground validation, flight sub-step；
The ground validation sub-step includes：
Connection flies control and selects status page in the flying quality page lower left corner, and dragging scroll bar is checked to last, mobile aircraft
Whether opt_m_x, opt_m_y, opt_qua have numerical value.
The flight sub-step includes：
Current light stream in the case where Loiter and landing Land patterns is remained effectively, when EKF_GPS_TYPE is set to 3, in Loiter and
Visual test light stream effect under Land patterns.
The present invention also provides a kind of four-axle aircraft indoor positioning and infrared obstacle avoidance method,
The step S4 includes：After having configured light stream parameter
MissionPlanner connections fly control, into configuration/debugging-whole parameter lists, find BARR_ENABLED and are changed to value
1 enables avoidance；BARR_TYPE is changed to 2；
Each avoidance plate resistance is adjusted until needing avoidance apart from when red with Phillips screwdriver.
Four-axle aircraft indoor positioning and infrared obstacle avoidance method and system that the present invention is provided, relative to prior art,
Under indoor state of flight, due to lacking GPS location, can disorderly be floatd when aircraft flight, simultaneously because the interior space is narrow and small, institute
Aircraft bombing out of control is easy to when with aircraft, the application of high-tech is determined by indoor light stream pointing technology and laser, aircraft can
To carry out a more stable flight indoors, by the application of infrared obstacle avoidance technology, indoor flight can be greatly reduced
Difficulty, the recreation experience of the indoor flight of lifting.
Brief description of the drawings
Fig. 1 is the four-axle aircraft indoor positioning and infrared obstacle avoidance system architecture diagram of the embodiment of the present invention.
Specific embodiment
A kind of four-axle aircraft indoor positioning of the embodiment of the present invention and infrared obstacle avoidance system, it includes four-axle aircraft, distant
Control device, middle control；Four-axle aircraft simultaneously with remote control, middle control wireless communication connection；
The four-axle aircraft includes flying control, light stream fixed point module, infrared obstacle avoidance module, receiver, the fixed module high of laser；Fly control
Module is electrically connected with light stream fixed point module, infrared obstacle avoidance module, receiver, the fixed module high of laser simultaneously；
Fly control for controlling the flight attitude information of four-axle aircraft；
Light stream fixed point module is used for by the movement of luminous point and dim spot in detection image come pixel in judging image relative to four
The translational speed of axle aircraft, and then realize the light stream fixed point of four-axle aircraft；
Infrared obstacle avoidance module is used to be realized by infrared ray the obstacle avoidance of four-axle aircraft；
The fixed module high of laser, for realizing the fixed height of the laser of four axle Fetion devices by launching laser；
Remote control is used to realize the remote control to four-axle aircraft.
The present invention also provides a kind of four-axle aircraft indoor positioning and infrared obstacle avoidance method, and it is used for described in claim 1
Four-axle aircraft indoor positioning and infrared obstacle avoidance system, it comprises the following steps：
S1, the hardware to four-axle aircraft in four-axle aircraft indoor positioning and infrared obstacle avoidance system carry out installation and debugging；And it is right
The light stream for flying control in four-axle aircraft indoor positioning and infrared obstacle avoidance system is configured；
S2, fixed debugging high is carried out to four-axle aircraft indoor positioning and infrared obstacle avoidance system；
S3, fixed point debugging is carried out to four-axle aircraft indoor positioning and infrared obstacle avoidance system；
S4, avoidance debugging is carried out to four-axle aircraft indoor positioning and infrared obstacle avoidance system.
The present invention also provides a kind of four-axle aircraft indoor positioning and infrared obstacle avoidance method,
The step S1 includes that hardware installation, firmware are installed, configuration flies three sub-steps of control；
The hardware installation sub-step includes：Please by camera lens perpendicular alignmnet ground, light flow module Y-axis mark alignment four-axle aircraft
Front；Light stream is installed and after connecting I2C lines, uses USB interface to connect and fly control and computer；
The newest APM firmwares of version are supported in the light stream based on 3.2.1 that firmware installs sub-step and includes that selection flying machine is provided
" FMarducopter3.21.px4 " now ejects following window, points out to extract USB port, then by OK button, then plugs again
Fly control；
Configuration flies control sub-step to be included：MissionPlanner connections fly control, into configuration/debugging-whole parameter lists,
Find FLOW_ENABLE and value is changed to 1
Find AHRS_EKF_USE and value is changed to 1
According to whether using GPS, EKF_GPS_TYPE is found by being provided below：
0:Every day use GPS location, light stream is automatically switched when GPS fails, for outdoor flight；
3:Simply positioned with light stream, ignore GPS location, for indoor flight.
The present invention also provides a kind of four-axle aircraft indoor positioning and infrared obstacle avoidance method,
The step S2 includes：Configuration flies control, ground validation sub-step；
Configuration flies control to be included：MissionPlanner connections fly control, into configuration/debugging-whole parameter lists,
Find RNGFNG_TYPE and value is changed to 4；
Ground validation sub-step includes that connection flies control and selects status page in the flying quality page lower left corner, and dragging scroll bar is to most
Afterwards, aircraft is moved up and down, checks whether sonarrange has numerical value.
The present invention also provides a kind of four-axle aircraft indoor positioning and infrared obstacle avoidance method,
The step S3 includes ground validation, flight sub-step；
The ground validation sub-step includes：
Connection flies control and selects status page in the flying quality page lower left corner, and dragging scroll bar is checked to last, mobile aircraft
Whether opt_m_x, opt_m_y, opt_qua have numerical value.
The flight sub-step includes：
Current light stream in the case where Loiter and landing Land patterns is remained effectively, when EKF_GPS_TYPE is set to 3, in Loiter and
Visual test light stream effect under Land patterns.
The present invention also provides a kind of four-axle aircraft indoor positioning and infrared obstacle avoidance method,
The step S4 includes：After having configured light stream parameter
MissionPlanner connections fly control, into configuration/debugging-whole parameter lists, find BARR_ENABLED and are changed to value
1 enables avoidance；BARR_TYPE is changed to 2；
Each avoidance plate resistance is adjusted until needing avoidance apart from when red with Phillips screwdriver.
Four-axle aircraft indoor positioning and infrared obstacle avoidance method and system that the present invention is provided, relative to prior art,
Under indoor state of flight, due to lacking GPS location, can disorderly be floatd when aircraft flight, simultaneously because the interior space is narrow and small, institute
Aircraft bombing out of control is easy to when with aircraft, the application of high-tech is determined by indoor light stream pointing technology and laser, aircraft can
To carry out a more stable flight indoors, by the application of infrared obstacle avoidance technology, indoor flight can be greatly reduced
Difficulty, the recreation experience of the indoor flight of lifting.
The method that is described with reference to the embodiments described herein or algorithm can directly use hardware, computing device
Software module, or the two combination is implemented.Software module can be placed in random access memory, internal memory, read-only storage, electricity can
It is known in programming ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In the storage medium of any other forms.
It is understood that for the person of ordinary skill of the art, can be done with technology according to the present invention design
Go out other various corresponding changes and deformation, and all these changes and deformation should all belong to the protection model of the claims in the present invention
Enclose.
Claims (6)
1. a kind of four-axle aircraft indoor positioning and infrared obstacle avoidance system, it is characterised in that it includes four-axle aircraft, remote control
Device, middle control；Four-axle aircraft simultaneously with remote control, middle control wireless communication connection；
The four-axle aircraft includes flying control, light stream fixed point module, infrared obstacle avoidance module, receiver, the fixed module high of laser；Fly control
Module is electrically connected with light stream fixed point module, infrared obstacle avoidance module, receiver, the fixed module high of laser simultaneously；
Fly control for controlling the flight attitude information of four-axle aircraft；
Light stream fixed point module is used for by the movement of luminous point and dim spot in detection image come pixel in judging image relative to four
The translational speed of axle aircraft, and then realize the light stream fixed point of four-axle aircraft；
Infrared obstacle avoidance module is used to be realized by infrared ray the obstacle avoidance of four-axle aircraft；
The fixed module high of laser, for realizing the fixed height of the laser of four axle Fetion devices by launching laser；
Remote control is used to realize the remote control to four-axle aircraft.
2. a kind of four-axle aircraft indoor positioning and infrared obstacle avoidance method, it is characterised in that it is used for four described in claim 1
Axle aircraft indoor positioning and infrared obstacle avoidance system, it comprises the following steps：
S1, the hardware to four-axle aircraft in four-axle aircraft indoor positioning and infrared obstacle avoidance system carry out installation and debugging；And it is right
The light stream for flying control in four-axle aircraft indoor positioning and infrared obstacle avoidance system is configured；
S2, fixed debugging high is carried out to four-axle aircraft indoor positioning and infrared obstacle avoidance system；
S3, fixed point debugging is carried out to four-axle aircraft indoor positioning and infrared obstacle avoidance system；
S4, avoidance debugging is carried out to four-axle aircraft indoor positioning and infrared obstacle avoidance system.
3. four-axle aircraft indoor positioning as claimed in claim 2 and infrared obstacle avoidance method, it is characterised in that
The step S1 includes that hardware installation, firmware are installed, configuration flies three sub-steps of control；
The hardware installation sub-step includes：Please by camera lens perpendicular alignmnet ground, light flow module Y-axis mark alignment four-axle aircraft
Front；Light stream is installed and after connecting I2C lines, uses USB interface to connect and fly control and computer；
The newest APM firmwares of version are supported in the light stream based on 3.2.1 that firmware installs sub-step and includes that selection flying machine is provided
" FMarducopter3.21.px4 " now ejects following window, points out to extract USB port, then by OK button, then plugs again
Fly control；
Configuration flies control sub-step to be included：MissionPlanner connections fly control, into configuration/debugging-whole parameter lists,
Find FLOW_ENABLE and value is changed to 1
Find AHRS_EKF_USE and value is changed to 1
According to whether using GPS, EKF_GPS_TYPE is found by being provided below：
0:Every day use GPS location, light stream is automatically switched when GPS fails, for outdoor flight；
3:Simply positioned with light stream, ignore GPS location, for indoor flight.
4. the four-axle aircraft indoor positioning and infrared obstacle avoidance method described in claim 2, it is characterised in that
The step S2 includes：Configuration flies control, ground validation sub-step；
Configuration flies control to be included：MissionPlanner connections fly control, into configuration/debugging-whole parameter lists,
Find RNGFNG_TYPE and value is changed to 4；
Ground validation sub-step includes that connection flies control and selects status page in the flying quality page lower left corner, and dragging scroll bar is to most
Afterwards, aircraft is moved up and down, checks whether sonarrange has numerical value.
5. the four-axle aircraft indoor positioning and infrared obstacle avoidance method described in claim 2, it is characterised in that
The step S3 includes ground validation, flight sub-step；
The ground validation sub-step includes：
Connection flies control and selects status page in the flying quality page lower left corner, and dragging scroll bar is checked to last, mobile aircraft
Whether opt_m_x, opt_m_y, opt_qua have numerical value；
The flight sub-step includes：
Current light stream in the case where Loiter and landing Land patterns is remained effectively, when EKF_GPS_TYPE is set to 3, in Loiter and
Visual test light stream effect under Land patterns.
6. four-axle aircraft indoor positioning as claimed in claim 2 and infrared obstacle avoidance method, it is characterised in that
The step S4 includes：After having configured light stream parameter
MissionPlanner connections fly control, into configuration/debugging-whole parameter lists, find BARR_ENABLED and are changed to value
1 enables avoidance；BARR_TYPE is changed to 2；
Each avoidance plate resistance is adjusted until needing avoidance apart from when red with Phillips screwdriver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710176192.5A CN106802152A (en) | 2017-03-23 | 2017-03-23 | Four-axle aircraft indoor positioning and infrared obstacle avoidance method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710176192.5A CN106802152A (en) | 2017-03-23 | 2017-03-23 | Four-axle aircraft indoor positioning and infrared obstacle avoidance method and system |
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| CN106802152A true CN106802152A (en) | 2017-06-06 |
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| CN201710176192.5A Pending CN106802152A (en) | 2017-03-23 | 2017-03-23 | Four-axle aircraft indoor positioning and infrared obstacle avoidance method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109634302A (en) * | 2018-12-06 | 2019-04-16 | 河池学院 | A kind of quadrotor system based on optical alignment |
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| CN105173095A (en) * | 2015-09-07 | 2015-12-23 | 国网通用航空有限公司 | Barrier avoiding system of helicopter |
| CN106094847A (en) * | 2016-06-07 | 2016-11-09 | 廖兴池 | A kind of unmanned plane automatic obstacle-avoiding controls technology and device thereof |
| US9540116B1 (en) * | 2015-06-30 | 2017-01-10 | Rockwell Collins, Inc. | Attitude indicator generating and presenting system, device, and method |
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2017
- 2017-03-23 CN CN201710176192.5A patent/CN106802152A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103913588A (en) * | 2014-04-10 | 2014-07-09 | 深圳市大疆创新科技有限公司 | Flight parameter measuring method and device of unmanned aircraft |
| CN104656665A (en) * | 2015-03-06 | 2015-05-27 | 云南电网有限责任公司电力科学研究院 | Novel general obstacle avoidance module for UAV (unmanned aerial vehicle) and steps |
| US9540116B1 (en) * | 2015-06-30 | 2017-01-10 | Rockwell Collins, Inc. | Attitude indicator generating and presenting system, device, and method |
| CN105000170A (en) * | 2015-07-15 | 2015-10-28 | 何春旺 | Touch screen controller and control method of driving device |
| CN105173095A (en) * | 2015-09-07 | 2015-12-23 | 国网通用航空有限公司 | Barrier avoiding system of helicopter |
| CN106094847A (en) * | 2016-06-07 | 2016-11-09 | 廖兴池 | A kind of unmanned plane automatic obstacle-avoiding controls technology and device thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109634302A (en) * | 2018-12-06 | 2019-04-16 | 河池学院 | A kind of quadrotor system based on optical alignment |
| CN109634302B (en) * | 2018-12-06 | 2022-04-08 | 河池学院 | Four-rotor aircraft system based on optical positioning |
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| PB01 | Publication | ||
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Application publication date: 20170606 |