CN108445504A - A kind of multi-rotor unmanned aerial vehicle indoor navigation method - Google Patents
A kind of multi-rotor unmanned aerial vehicle indoor navigation method Download PDFInfo
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- CN108445504A CN108445504A CN201810228585.0A CN201810228585A CN108445504A CN 108445504 A CN108445504 A CN 108445504A CN 201810228585 A CN201810228585 A CN 201810228585A CN 108445504 A CN108445504 A CN 108445504A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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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
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Abstract
The invention discloses a kind of multi-rotor unmanned aerial vehicle indoor navigation methods, include that two-dimensional laser radar is set in multi-rotor unmanned aerial vehicle and mounted in the processor for having ROS systems, two-dimensional laser radar is connect with serial communication modular, and the serial communication modular is connect by USB interface with processor；Go out the outline data of multi-rotor unmanned aerial vehicle ambient enviroment by two-dimensional laser radar scanning, and the outline data that scanning obtains is sent to by processor by serial communication modular；The processor establishes cost map as follows, and carries out indoor navigation on the cost map of foundation.Multi-rotor unmanned aerial vehicle indoor navigation method of the present invention can select Optimal Flight Route according to multi-rotor unmanned aerial vehicle actual environment, and automatic dodging barrier, realizing multi-rotor unmanned aerial vehicle, automatic obstacle avoiding flies indoors.
Description
Technical field
The present invention relates to unmanned plane autonomous flight technical field, more particularly to a kind of unmanned plane is in no satellite-signal environment
The air navigation aid of autonomous flight.
Background technology
Unmanned plane (UAV, unmannedairvehice) is a kind of by radio robot or by itself program control dress
Manipulation is set, the non-manned vehicle of particular task is executed.Unmanned plane for manned aircraft due to having volume
It is small, light-weight, mobility is good, strong applicability and at low cost and the features such as need not take one's life in one's hands, in civil and military field
It receives significant attention.
Militarily, unmanned plane is mainly used to scout, monitor, communication relay, electronic countermeasure, combat success are assessed, harass, lured
Puzzled, antisubmarine, target attack etc.；In terms of national economy, unmanned plane for geodesic survey, meteorological observation, urban environment detection,
Ball resource exploration, forest fire protection and rain making etc.；In terms of science and technology, sampled for air, to Nuclear Biological Chemical contaminated area
Sampling with detection etc.；In addition, since unmanned plane and spacecraft belong to unmanned scope, there is phase in some aspects
Like place, so the flight test of spacecraft new component, subsystem, payload can also be carried out with unmanned plane
Verification in advance.
Small-sized multi-rotor unmanned aerial vehicle with autonomous flight ability is widely used in power-line patrolling, disaster relief detection, exploration survey
Paint, personnel's search and rescue, the industries such as express delivery stream object, it is obtained for extensive concern in dual-use field.In entire unmanned plane
In autonomous flight system, unmanned aerial vehicle flight path planning is that one of key technology of unmanned plane task grouping and unmanned plane are real
Existing autonomous flight and the basis independently attacked.The main purpose of unmanned aerial vehicle flight path planing method is sought in given planning region
An optimal or satisfied flight track is looked for, therefore first has to obtain the global map of ambient enviroment, then again in the overall situation
On the basis of map global navigation is realized using ROS navigation feature packet collection.
Autonomous control technology of the unmanned plane in flight course, external there are many research institutions from architecture, flight path
The different aspect such as autonomous quick planning deep exploration and research have been carried out to it.The control mode of unmanned plane is developed to
The present has primarily formed four kinds of control modes such as remote control, program control/instruction control, semi-autonomous control and autonomous control.At this stage
The general condition of unmanned plane autonomous flight technology be existing technological means can only be realized in relatively determining environment it is autonomous or
Semi-autonomous control, the UAV Intelligent autonomous control in complete meaning under fast-changing uncertain environment, just current skill
It is also immature for art condition.Basically, the unmanned plane autonomous control in complete meaning need to have it is uncertain under the premise of
The ability of making decisions on one's own of processing emergency situations in real time.The current unmanned plane that can realize autonomous flight relies on satellite-signal and provides position
Confidence ceases, and existing map planning path is reused according to location information.However indoors, there is nothing in the environment of veil in tunnel etc.
Man-machine to receive GPS signal, unmanned plane is unable to get itself and ambient enviroment virtual condition in flight course；Given
Map can not real-time update, timely reaction can not be made by emergency situations unmanned plane occur around unmanned plane.The presence of these problems
So that unmanned plane automatic obstacle avoiding flight indoors is difficult to realize.
Invention content
In view of this, the object of the present invention is to provide a kind of multi-rotor unmanned aerial vehicle indoor navigation method, pass through navigation system
Multi-rotor unmanned aerial vehicle ambient data is obtained indoors, generates map, real-time update map, and cook up according to ambient enviroment
Path realizes the flight of unmanned plane automatic obstacle avoiding in the case of no GPS signal, solves the skill of unmanned plane autonomous flight indoors
Art problem.
Multi-rotor unmanned aerial vehicle indoor navigation method of the present invention, including in multi-rotor unmanned aerial vehicle be arranged two-dimensional laser radar and
Mounted in the processor for having ROS systems, the two-dimensional laser radar is connect with serial communication modular, and the serial communication modular passes through
USB interface is connect with processor；
Go out the outline data of multi-rotor unmanned aerial vehicle ambient enviroment by two-dimensional laser radar scanning, and passes through serial communication mould
The outline data that scanning obtains is sent to processor by block, is connected by USB interface between the multi-rotor unmanned aerial vehicle and processor
It connects；
The processor establishes cost map as follows, and carries out interior on the cost map of foundation and lead
Boat：
S1:Create the coordinate transform between each coordinate system by the libraries tf of ROS systems, the coordinate system include with more rotors without
Man-machine mobile platform center is the base_link referentials of origin, using the center of two-dimensional laser radar as the base_ of origin
The reference frame of laser referentials and cost map；
S2:ROS systems after receiving the outline data of multi-rotor unmanned aerial vehicle ambient enviroment that dimension two-dimensional laser radar transmits,
Outline data is released in systems with sensor_msgs/LaserScan formats；
S3：Issue mileage information
Mileage information comprising velocity information and posture information is sent to processor by the odometer of multi-rotor unmanned aerial vehicle, place
Device is managed to issue mileage information to ROS systems；
The velocity information includes two parts, and a part is the linear velocity of more gyroplane unmanned planes, and another part is more
The angular speed of gyroplane unmanned plane；The linear velocity specifies that multi-rotor unmanned aerial vehicle is forward or to move backward, and angular speed is bright
Really multi-rotor unmanned aerial vehicle turns left or turns right；
The posture information includes two parts, and a part shows position of the multi-rotor unmanned aerial vehicle in eulerian coordinate system,
Another part shows the direction of multi-rotor unmanned aerial vehicle, the i.e. angular displacement of multi-rotor unmanned aerial vehicle using quaternary digital display；
S4：Create map
ROS systems subscribe to the wheel of the multi-rotor unmanned aerial vehicle ambient enviroment of ROS systems publication by Slam_mapping nodes
The mileage information for the multi-rotor unmanned aerial vehicle that wide data and odometer provide, and Slam_mapping builds covering nothing with this
The grid map of man-machine ambient enviroment；Slam_mapping also uses the adaptive monte carlo localization algorithm pair in ROS systems
Multi-rotor unmanned aerial vehicle positions, and tracks the position of multi-rotor unmanned aerial vehicle, when multi-rotor unmanned aerial vehicle moves, Slam_mapping is real-time
Update map state；
S5：On the basis of establishing cost map, navigated using the ROS system navigation feature packet collection overall situations, in cost map
On establish multi-rotor unmanned aerial vehicle to the path of final goal；In multi-rotor unmanned aerial vehicle flight course, when two-dimensional laser radar is supervised
When measuring the laser signal projection of barrier on path, obstacle information is introduced into cost map by Slam_mapping；It is described
The geometric parameter of multi-rotor unmanned aerial vehicle is informed ROS system navigation feature packet collection, the office of ROS system navigation feature packet collection by processor
Portion's navigation updates moveable free space data in multi-rotor unmanned aerial vehicle motion process, establishes local cost map, and build
Stand the path of interim avoiding barrier.
Further, the two-dimensional laser radar is to think haze RPLIDAR two-dimensional laser radars.
Further, chip used in the serial communication modular is CP2102 chips.
Beneficial effects of the present invention：
Multi-rotor unmanned aerial vehicle indoor navigation method of the present invention is read by using serial ports around two-dimensional laser radar scanning
The data of environment are used in combination these data to generate cost map, real using ROS navigation features packet on the basis of generating cost map
Existing global navigation can select Optimal Flight Route, automatic dodging barrier real according to multi-rotor unmanned aerial vehicle actual environment
Automatic obstacle avoiding flies existing multi-rotor unmanned aerial vehicle indoors.
Description of the drawings
Fig. 1 is navigation system frame diagram.
Specific implementation mode
The present invention is described in detail with reference to the accompanying drawings and examples.
Multi-rotor unmanned aerial vehicle indoor navigation method in the present embodiment, including two-dimensional laser thunder is set in multi-rotor unmanned aerial vehicle
It reaches and mounted in the processor for having ROS systems, the two-dimensional laser radar is connect with serial communication modular, the serial communication modular
It is connect with processor by USB interface；Two-dimensional laser radar employed in the present embodiment is to think haze RPLIDAR two-dimensional laser thunders
It reaches, chip used in serial communication modular is CP2102 chips.
Go out the outline data of multi-rotor unmanned aerial vehicle ambient enviroment by two-dimensional laser radar scanning, and passes through serial communication mould
The outline data that scanning obtains is sent to processor by block.
The processor establishes cost map as follows, and carries out interior on the cost map of foundation and lead
Boat：
S1:Create the coordinate transform between each coordinate system by the libraries tf of ROS systems, the coordinate system include with more rotors without
Man-machine mobile platform center is the base_link referentials of origin, using the center of two-dimensional laser radar as the base_ of origin
The reference frame of laser referentials and cost map, by establishing coordinate transform so that only it is to be understood that a point is at certain
As soon as the coordinate under coordinate system can obtain this coordinate in other coordinate systems.
S2:ROS systems after receiving the outline data of multi-rotor unmanned aerial vehicle ambient enviroment that dimension two-dimensional laser radar transmits,
Outline data is released in systems with sensor_msgs/LaserScan formats.
S3：Issue mileage information
Mileage information comprising velocity information and posture information is sent to processor by the odometer of multi-rotor unmanned aerial vehicle, place
Device is managed to issue mileage information to ROS systems.
The velocity information includes two parts, and a part is the linear velocity of more gyroplane unmanned planes, and another part is more
The angular speed of gyroplane unmanned plane；The linear velocity specifies that multi-rotor unmanned aerial vehicle is forward or to move backward, and angular speed is bright
Really multi-rotor unmanned aerial vehicle turns left or turns right.
The posture information includes two parts, and a part shows position of the multi-rotor unmanned aerial vehicle in eulerian coordinate system,
Another part shows the direction of multi-rotor unmanned aerial vehicle, the i.e. angular displacement of multi-rotor unmanned aerial vehicle using quaternary digital display.
S4：Create map
ROS systems subscribe to the wheel of the multi-rotor unmanned aerial vehicle ambient enviroment of ROS systems publication by Slam_mapping nodes
The mileage information for the multi-rotor unmanned aerial vehicle that wide data and odometer provide, and Slam_mapping builds covering nothing with this
The grid map of man-machine ambient enviroment；Slam_mapping also uses the adaptive monte carlo localization algorithm pair in ROS systems
Multi-rotor unmanned aerial vehicle positions, and tracks the position of multi-rotor unmanned aerial vehicle, when multi-rotor unmanned aerial vehicle moves, Slam_mapping is real-time
Update map state.
S5：On the basis of establishing cost map, navigated using the ROS system navigation feature packet collection overall situations, in cost map
On establish multi-rotor unmanned aerial vehicle to the path of final goal；In multi-rotor unmanned aerial vehicle flight course, when two-dimensional laser radar is supervised
When measuring the laser signal projection of barrier on path, obstacle information is introduced into cost map by Slam_mapping；It is described
The geometric parameter of multi-rotor unmanned aerial vehicle is informed ROS system navigation feature packet collection, the office of ROS system navigation feature packet collection by processor
Portion's navigation updates moveable free space data in multi-rotor unmanned aerial vehicle motion process, establishes local cost map, and build
Stand the path of interim avoiding barrier.
Finally illustrate, the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although with reference to compared with
Good embodiment describes the invention in detail, it will be understood by those of ordinary skill in the art that, it can be to the skill of the present invention
Art scheme is modified or replaced equivalently, if but without departing from the objective and range of technical solution of the present invention, just should cover at this
In the right of invention.
Claims (3)
1. a kind of multi-rotor unmanned aerial vehicle indoor navigation method, it is characterised in that：Swash including two dimension is arranged in multi-rotor unmanned aerial vehicle
Optical radar and mounted in the processor for having ROS systems, the two-dimensional laser radar is connect with serial communication modular, the serial communication
Module is connect by USB interface with processor；
Go out the outline data of multi-rotor unmanned aerial vehicle ambient enviroment by two-dimensional laser radar scanning, and will by serial communication modular
It scans obtained profile outline data and is sent to processor；
The processor establishes cost map as follows, and carries out indoor navigation on the cost map of foundation：
S1:The coordinate transform between each coordinate system is created by the libraries tf of ROS systems, the coordinate system includes with multi-rotor unmanned aerial vehicle
Mobile platform center be the base_link referentials of origin, using the center of two-dimensional laser radar as the base_laser of origin
The reference frame of referential and cost map；
S2:ROS systems after receiving the outline data of multi-rotor unmanned aerial vehicle ambient enviroment that dimension two-dimensional laser radar transmits, with
Sensor_msgs/LaserScan formats release outline data in systems；
S3：Issue mileage information
Mileage information comprising velocity information and posture information is sent to processor, processor by the odometer of multi-rotor unmanned aerial vehicle
Mileage information is issued to ROS systems；
The velocity information includes two parts, and a part is the linear velocity of more gyroplane unmanned planes, and another part is more rotors
The angular speed of machine unmanned plane；The linear velocity specifies that multi-rotor unmanned aerial vehicle is forward or to move backward, and angular speed specifies
Multi-rotor unmanned aerial vehicle turns left or turns right；
The posture information includes two parts, and a part shows position of the multi-rotor unmanned aerial vehicle in eulerian coordinate system, another
Part shows the direction of multi-rotor unmanned aerial vehicle, the i.e. angular displacement of multi-rotor unmanned aerial vehicle using quaternary digital display；
S4：Create map
ROS systems subscribe to the number of contours of the multi-rotor unmanned aerial vehicle ambient enviroment of ROS systems publication by Slam_mapping nodes
According to and the mileage information of multi-rotor unmanned aerial vehicle that provides of odometer, and Slam_mapping builds covering unmanned plane with this
The grid map of ambient enviroment；Slam_mapping also uses the adaptive monte carlo localization algorithm in ROS systems to revolving more
Wing unmanned plane positions, and tracks the position of multi-rotor unmanned aerial vehicle, when multi-rotor unmanned aerial vehicle moves, Slam_mapping real-time updates
Map state；
S5：On the basis of establishing cost map, is navigated using the ROS system navigation feature packet collection overall situations, built on cost map
Multi-rotor unmanned aerial vehicle is found to the path of final goal；In multi-rotor unmanned aerial vehicle flight course, when two-dimensional laser radar monitors
On path when the laser signal projection of barrier, obstacle information is introduced into cost map by Slam_mapping；The processing
The geometric parameter of multi-rotor unmanned aerial vehicle is informed that ROS system navigation feature packet collection, the part of ROS system navigation feature packet collection are led by device
Boat updates moveable free space data in multi-rotor unmanned aerial vehicle motion process, establishes local cost map, and establish and face
When avoiding barrier path.
2. multi-rotor unmanned aerial vehicle indoor navigation method as described in claim 1, which is characterized in that the two-dimensional laser radar is
Think haze RPLIDAR two-dimensional laser radars.
3. multi-rotor unmanned aerial vehicle indoor navigation method as described in claim 1, which is characterized in that the serial communication modular institute
The chip used is CP2102 chips.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109709986A (en) * | 2019-03-06 | 2019-05-03 | 华北电力大学（保定） | A kind of unmanned aerial vehicle control system and method |
| CN110471441A (en) * | 2019-08-12 | 2019-11-19 | 南京理工大学 | A kind of quadrotor drone barrier-avoiding method based on laser acquisition |
| CN110907945A (en) * | 2019-10-28 | 2020-03-24 | 广西电网有限责任公司电力科学研究院 | Positioning method considering indoor and outdoor flight of unmanned aerial vehicle |
| CN112000125A (en) * | 2020-08-02 | 2020-11-27 | 南京理工大学 | Autonomous navigation method for four-rotor aircraft in subway tunnel |
| CN115616578A (en) * | 2022-12-05 | 2023-01-17 | 成都航空职业技术学院 | Radar detection method and device for unmanned aerial vehicle |
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Cited By (5)
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