CN113419563A - Unmanned aerial vehicle positioning device, method, equipment and medium - Google Patents
Unmanned aerial vehicle positioning device, method, equipment and medium Download PDFInfo
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Abstract
The application discloses unmanned aerial vehicle positioner, method, equipment and medium, the device includes: the inertial navigation system comprises a processor module, an inertial navigation measurement module, a double-optical-flow module and a camera module; the inertial navigation measurement module is used for measuring three-axis acceleration of the unmanned aerial vehicle, three-axis angular velocity information and distance information between the unmanned aerial vehicle and the ground, and performing inclination angle compensation on the distance information by using the three-axis angular velocity to obtain height information of the unmanned aerial vehicle; the camera module is used for detecting the ground mark points and calculating the absolute position information of the unmanned aerial vehicle according to the internal and external parameters of the camera; the double-optical-flow module is used for acquiring speed information of an air-optical flow and speed information of a ground-optical flow of the unmanned aerial vehicle; fusing the air-light flow velocity information, the ground-light flow velocity information and the three-axis acceleration to obtain the relative displacement data of the unmanned aerial vehicle; the processor module fixes a position unmanned aerial vehicle according to the data that acquire, solves the relatively poor problem of stability of unmanned aerial vehicle location.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle perception positioning, in particular to an unmanned aerial vehicle positioning device, method, equipment and medium.
Background
The unmanned aerial vehicle is adopted for operation in the fields of power transmission line inspection and the like, so that the personal safety of operating personnel can be ensured, a large amount of labor cost can be saved, and the production efficiency is improved; in an outdoor unstructured operation environment, the four-rotor unmanned aerial vehicle has a small volume and poor wind resistance, so that when the four-rotor unmanned aerial vehicle flies outdoors, environmental factors have a large influence on the flying stability of the four-rotor unmanned aerial vehicle, and the four-rotor unmanned aerial vehicle is an under-actuated system with six degrees of freedom and four control inputs and has the characteristics of nonlinearity, multivariable, strong coupling and weak interference resistance; and the vision-inertial navigation system on the unmanned aerial vehicle needs to complete external observation tasks on an environment internal model, needs to maintain updating of external environment description in real time, needs to model observation uncertainty information, analyzes influence of uncertainty from multi-sensor information on decision making, and considers which fusion structure and method are adopted to eliminate the influence of uncertainty as much as possible so as to achieve more reliable description of the environment.
According to the existing dynamic unstructured environment multi-mode perception method, the GPS system is often selected as a stable observation sensor for the outdoor unmanned aerial vehicle, signals of the GPS can be attenuated when the GPS is used, and then the GPS is positioned to generate huge deviation, so that the unmanned aerial vehicle cannot accurately fly to the designated ground, and the positioning stability of the unmanned aerial vehicle is reduced.
Disclosure of Invention
The application provides an unmanned aerial vehicle positioning device, method, equipment and medium, and solves the problem of poor positioning stability of an unmanned aerial vehicle.
In view of this, this application first aspect provides an unmanned aerial vehicle positioner, the device includes:
the inertial navigation system comprises a processor module, and an inertial navigation measurement module, a dual-optical-flow module and a camera module which are connected with the processor module;
the inertial navigation measurement module is used for measuring three-axis acceleration of the unmanned aerial vehicle, three-axis angular velocity information and distance information between the unmanned aerial vehicle and the ground, and performing inclination angle compensation on the distance information by using the three-axis angular velocity to obtain height information of the unmanned aerial vehicle;
the camera module is used for detecting the ground mark points and calculating the absolute position information of the unmanned aerial vehicle according to the internal and external parameters of the camera;
the dual-optical-flow module is used for acquiring speed information of an air-optical flow and speed information of a ground-optical flow of the unmanned aerial vehicle; fusing the air-to-air optical flow velocity information, the ground optical flow velocity information and the three-axis acceleration in the processor module through a Kalman filter to obtain stable relative velocity of the unmanned aerial vehicle, and integrating the stable relative velocity to obtain stable relative displacement data;
the processor module is used for positioning the unmanned aerial vehicle according to the acquired height information, the absolute position information and the relative displacement data.
Optionally, the method further includes: an air-to-ground light flow module;
the air-to-air optical flow module is used for detecting the optical flow change situation above the unmanned aerial vehicle, so that the air-to-air optical flow observation speed is obtained;
the earth light flow module is used for detecting the change condition of the light flow below the unmanned aerial vehicle, so that the earth light flow observation speed is obtained.
Optionally, the method further includes:
the attitude detection module is used for measuring three-axis acceleration and three-axis angular velocity information of the unmanned aerial vehicle by adopting the attitude detection sensor, so that the processor module reads the three-axis angular velocity information acquired by the attitude detection module, solves the angle information of the unmanned aerial vehicle, and performs inclination angle compensation on the acquired ground distance information by using the angle information, thereby obtaining the height information of the unmanned aerial vehicle.
Optionally, the method further includes:
the attitude detection module is used for measuring three-axis acceleration and three-axis angular velocity information of the unmanned aerial vehicle by adopting the attitude detection sensor, so that the processor module reads the three-axis angular velocity information acquired by the attitude detection module, solves the angle information of the unmanned aerial vehicle, and performs inclination angle compensation on the acquired ground distance information by using the angle information, thereby obtaining the height information of the unmanned aerial vehicle.
Optionally, a data acquisition unit and a data processor;
the data acquisition unit is respectively connected with a visual sensor, a distance sensor, a three-dimensional laser radar sensor and a touch sensor and is used for acquiring visual image information of the surrounding environment of the unmanned aerial vehicle acquired by the visual sensor, distance information of the unmanned aerial vehicle and surrounding objects acquired by the distance sensor, laser radar information of the surrounding of the unmanned aerial vehicle acquired by the three-dimensional laser radar sensor and various property characteristics of surrounding measurement objects and environments acquired by the touch sensor; uploading the acquired data to the data processing module;
and after the data processor processes the acquired data, the processed data are uploaded to a central processing unit, so that the information around the unmanned aerial vehicle is acquired.
Optionally, the system further comprises a central processing unit connected to the data processor and the processor module respectively:
the central processing unit is used for acquiring the data processed by the data processor and the data uploaded by the processor module, so that the processor module and the data processor can transmit the processed data to the central processing unit, and information acquisition of the surrounding environment of the unmanned aerial vehicle and positioning of the unmanned aerial vehicle are realized.
The second aspect of the present application provides a method for positioning an unmanned aerial vehicle, the method comprising:
detecting three-axis acceleration, three-axis angular velocity information and distance information with the ground of the unmanned aerial vehicle;
adopting the three-axis angular velocity to perform dip angle compensation on the distance information to obtain height information of the unmanned aerial vehicle;
solving absolute position information of the unmanned aerial vehicle by detecting the ground mark points and acquiring internal and external parameters of the detection equipment;
collecting air-light stream velocity information and ground-light stream velocity information of an unmanned aerial vehicle, fusing the air-light stream velocity information, the ground-light stream velocity information and the three-axis acceleration through a Kalman filter to obtain stable relative velocity of the unmanned aerial vehicle, and integrating the stable relative velocity to obtain stable relative displacement data;
and positioning the unmanned aerial vehicle according to the acquired height information, the absolute position information and the relative displacement data.
Optionally, the method further includes:
acquiring visual image information of the surrounding environment of the unmanned aerial vehicle, distance information between the unmanned aerial vehicle and surrounding objects, laser radar information around the unmanned aerial vehicle and various property characteristics of surrounding measurement objects and the environment, and acquiring the surrounding information of the unmanned aerial vehicle;
and converting the information around the unmanned aerial vehicle into route edge characteristic information under an unmanned aerial vehicle world coordinate system.
A third aspect of the application provides a positioning apparatus, the apparatus comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the steps of the drone positioning plan method according to the second aspect described above, according to instructions in the program code.
A fourth aspect of the present application provides a computer-readable storage medium for storing program code for performing the method of the second aspect described above.
According to the technical scheme, the method has the following advantages:
in this application, an unmanned aerial vehicle positioner is provided, the device includes: an inertial navigation system; the inertial navigation system comprises a processor module, and an inertial navigation measurement module, a dual-optical-flow module and a camera module which are connected with the processor module; the inertial navigation measurement module is used for measuring three-axis acceleration of the unmanned aerial vehicle, three-axis angular velocity information and distance information between the unmanned aerial vehicle and the ground, and performing inclination angle compensation on the distance information by using the three-axis angular velocity to obtain height information of the unmanned aerial vehicle; the camera module is used for detecting the ground mark points and calculating the absolute position information of the unmanned aerial vehicle according to the internal and external parameters of the camera; the double-optical-flow module is used for acquiring speed information of an air-optical flow and speed information of a ground-optical flow of the unmanned aerial vehicle; fusing the air-light flow velocity information, the ground light flow velocity information and the three-axis acceleration in the processor module through a Kalman filter to obtain the stable relative velocity of the unmanned aerial vehicle, and integrating the stable relative velocity to obtain stable relative displacement data; the processor module is used for positioning the unmanned aerial vehicle according to the acquired height information, the absolute position information and the relative displacement data.
The method comprises the steps of setting a double-optical-flow module, reading double-optical-flow module data by a processor module, resolving optical flow data of an air-to-ground two optical-flow modules into optical flow angular velocity information in the processor module, compensating the optical flow angular velocity information with the angular velocity information obtained by an attitude detection module to obtain accurate optical flow angular velocity information of the air and the ground, multiplying the accurate optical flow angular velocity information by obtained height information to obtain speed information of the air-to-ground optical flow, sending the air-to-ground two optical flow velocity information and acceleration information into a Kalman filter in the processor module to be fused to obtain stable relative velocity of the unmanned aerial vehicle, obtaining stable relative displacement of the unmanned aerial vehicle after integration, improving the accuracy and stability of measuring the relative displacement outdoors by an air-to-ground double-optical-flow detection mode, and calibrating the absolute position by a camera module detection mark point mode, thereby combine two kinds of modes to optimize the precision of unmanned aerial vehicle at outdoor location, solve the relatively poor problem of stability of unmanned aerial vehicle location.
Drawings
Fig. 1 is a device structure diagram of an embodiment of a positioning device for an unmanned aerial vehicle according to the present application;
fig. 2 is a device structure diagram of another embodiment of a positioning device for a drone according to the present application;
fig. 3 is a flowchart of a method according to an embodiment of a method for locating an unmanned aerial vehicle according to the present application;
fig. 4 is a schematic structural diagram of a positioning apparatus in an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a positioning device of an unmanned aerial vehicle according to the present application, as shown in fig. 1, fig. 1 includes:
an inertial navigation system; the inertial navigation system comprises a processor module, and an inertial navigation measurement module, a dual-optical-flow module and a camera module which are connected with the processor module;
the inertial navigation measurement module is used for measuring three-axis acceleration of the unmanned aerial vehicle, three-axis angular velocity information and distance information between the unmanned aerial vehicle and the ground, and performing inclination angle compensation on the distance information by using the three-axis angular velocity to obtain height information of the unmanned aerial vehicle;
it should be noted that the processor module is respectively connected with the inertial navigation measurement module, the dual-optical-flow module and the camera module, the inertial navigation measurement module can be used for measuring the three-axis acceleration, the three-axis angular velocity information and the real-time distance information between the unmanned aerial vehicle and the ground during the flight of the unmanned aerial vehicle, the real-time three-axis angular velocity is used for performing inclination angle compensation on the real-time distance information, and the height information of the unmanned aerial vehicle at each moment can be determined.
The camera module is used for detecting the ground mark points and calculating the absolute position information of the unmanned aerial vehicle according to the internal and external parameters of the camera;
it should be noted that the camera module may be used to acquire the ground mark point for detection, that is, the position of the unmanned aerial vehicle is determined by the ground mark point, and then the conversion is performed according to the internal and external parameters of the camera, so as to obtain the real-time absolute position information of the unmanned aerial vehicle.
The double-optical-flow module is used for acquiring speed information of an air-optical flow and speed information of a ground-optical flow of the unmanned aerial vehicle; fusing the air-light flow velocity information, the ground light flow velocity information and the three-axis acceleration in the processor module through a Kalman filter to obtain the stable relative velocity of the unmanned aerial vehicle, and integrating the stable relative velocity to obtain stable relative displacement data;
it should be noted that the dual-optical-flow module can be used for collecting speed information of the unmanned aerial vehicle on the air optical flow and speed information of the unmanned aerial vehicle on the ground optical flow; therefore, after the air-light flow velocity information, the ground light flow velocity information and the three-axis acceleration are fused in the processor module through the Kalman filter, the real-time stable relative velocity of the unmanned aerial vehicle is obtained, and the stable relative displacement data is obtained after the stable relative velocity is integrated.
The processor module is used for positioning the unmanned aerial vehicle according to the acquired height information, the absolute position information and the relative displacement data.
It should be noted that the inertial navigation measurement module, the dual-optical-flow module and the camera module transmit the acquired data to the processor module, and the processor module performs calculation and analysis to obtain corresponding real-time height information, relative displacement data and absolute position information of the unmanned aerial vehicle, so that the real-time position of the unmanned aerial vehicle can be positioned.
The method comprises the steps of setting a double-optical-flow module, reading double-optical-flow module data by a processor module, resolving optical flow data of an air-to-ground two optical-flow modules into optical flow angular velocity information in the processor module, compensating the optical flow angular velocity information with the angular velocity information obtained by an attitude detection module to obtain accurate optical flow angular velocity information of the air and the ground, multiplying the accurate optical flow angular velocity information by obtained height information to obtain speed information of the air-to-ground optical flow, sending the air-to-ground two optical flow velocity information and acceleration information into a Kalman filter in the processor module to be fused to obtain stable relative velocity of the unmanned aerial vehicle, obtaining stable relative displacement of the unmanned aerial vehicle after integration, improving the accuracy and stability of measuring the relative displacement outdoors by an air-to-ground double-optical-flow detection mode, and calibrating the absolute position by a camera module detection mark point mode, thereby combine two kinds of modes to optimize the precision of unmanned aerial vehicle at outdoor location, solve the relatively poor problem of stability of unmanned aerial vehicle location.
The application still provides the schematic structure diagram of another embodiment of unmanned aerial vehicle positioner, as shown in fig. 2, except the module that contains in embodiment 1 in fig. 2, still include:
the air-to-air flow module is used for detecting the change condition of the air flow above the unmanned aerial vehicle, so that the observation speed of the air-to-air flow is obtained;
the earth optical flow module is used for detecting the optical flow change condition below the unmanned aerial vehicle, so that the earth optical flow observation speed is obtained.
The air-to-air optical flow module is used for detecting the optical flow change situation above the unmanned aerial vehicle, so that the air-to-air optical flow observation speed is obtained, the air-to-air optical flow speed can be conveniently measured by adopting the technical scheme, and the positioning stability of the unmanned aerial vehicle can be improved; to ground light stream module for detect the light stream situation of change of unmanned aerial vehicle below, thereby obtain observing the speed to ground light stream, through adopting above-mentioned technical scheme, measurement that can be very convenient is to ground light stream speed, and then is convenient for carry this data to processor module and handles.
In a specific embodiment, the method further comprises the following steps:
the attitude detection module is used for measuring the three-axis acceleration and the three-axis angular velocity information of the unmanned aerial vehicle by adopting the attitude detection sensor, so that the processor module reads the three-axis angular velocity information acquired by the attitude detection module, the angular information of the unmanned aerial vehicle is obtained by solving, and the acquired ground distance information is subjected to inclination angle compensation by using the angular information, so that the height information of the unmanned aerial vehicle is obtained.
The ultrasonic module is used for acquiring distance information of the unmanned aerial vehicle to the ground, so that the processor module can perform inclination angle compensation on the distance information according to the obtained three-axis angular velocity to obtain height information of the unmanned aerial vehicle to the ground.
It should be noted that the attitude detection module can measure the three-axis acceleration and the three-axis angular velocity information of the unmanned aerial vehicle by using a built-in attitude detection sensor; the ultrasonic wave module can be used for collecting the distance information of the unmanned aerial vehicle to the ground, so that the processor module carries out inclination angle compensation on the distance information according to the obtained three-axis angular velocity to obtain the height information of the unmanned aerial vehicle to the ground.
Specifically, be equipped with pin VCC, pin GND, pin SCL and pin SDA on the gesture detection module, the gesture detection module transmission information of being convenient for, and the processor module reads gesture detection module data and solves and obtain unmanned aerial vehicle's angle information to use angle information to survey distance information to the ultrasonic wave module and carry out the inclination compensation, thereby obtain unmanned aerial vehicle's altitude information.
In a specific embodiment, the method further comprises the following steps:
a data acquisition unit and a data processor;
the data acquisition unit is respectively connected with the visual sensor, the distance sensor, the three-dimensional laser radar sensor and the touch sensor and is used for acquiring visual image information of the surrounding environment of the unmanned aerial vehicle acquired by the visual sensor, distance information of the unmanned aerial vehicle and surrounding objects acquired by the distance sensor, laser radar information of the surrounding of the unmanned aerial vehicle acquired by the three-dimensional laser radar sensor and various property characteristics of surrounding measurement objects and environments acquired by the touch sensor; uploading the acquired data to a data processing module;
and after the data processor processes the acquired data, the processed data are uploaded to a central processing unit, so that the information around the unmanned aerial vehicle is acquired.
The method comprises the following steps that more than two vision sensors are arranged at the top of the unmanned aerial vehicle to acquire vision image information of a road ahead, a distance sensor and a three-dimensional laser radar sensor are arranged at the top of the unmanned aerial vehicle, touch sensors are arranged around the unmanned aerial vehicle, and a data collector module and a data processor module are arranged on the unmanned aerial vehicle; in the application, the vision sensor, the distance sensor, the three-dimensional laser radar sensor and the touch sensor are connected with the data acquisition unit, and the acquired data are processed by the data processor. And then extracting edge characteristic information of an object on the route from an environment image obtained by the vision sensor, and preprocessing the edge characteristic information, specifically, converting the route edge characteristic information from an image coordinate system into a current world coordinate system of the unmanned aerial vehicle to form route edge characteristic information under the world coordinate system of the unmanned aerial vehicle. Then obtain the distance between unmanned aerial vehicle and the object around from the distance sensor, obtain the lidar information around the unmanned aerial vehicle from three-dimensional lidar sensor, obtain the multiple nature characteristic of measurement object and environment through touch sensor to can accurately acquire the peripheral information of unmanned aerial vehicle.
In a specific embodiment, the method further comprises the following steps:
a central processing unit connected to the data processor and the processor module respectively:
the central processing unit is used for acquiring data processed by the data processor and data uploaded by the processor module, so that the processor module and the data processor can transmit the processed data to the central processing unit, and information acquisition of the surrounding environment of the unmanned aerial vehicle and positioning of the unmanned aerial vehicle are realized.
It should be noted that the central processing unit is connected with the processor module and the data processor module respectively, and the processor module and the data processor can transmit the processed data to the central processing unit and fuse the processed data on the central processing unit, so that the surrounding environment of the unmanned aerial vehicle can be acquired in real time, and the unmanned aerial vehicle can be positioned.
The application also provides an embodiment of the positioning method for the unmanned aerial vehicle, as shown in fig. 3, the method includes:
301. detecting three-axis acceleration, three-axis angular velocity information and distance information with the ground of the unmanned aerial vehicle;
302. adopting three-axis angular velocity to perform dip angle compensation on the distance information to obtain height information of the unmanned aerial vehicle;
303. solving absolute position information of the unmanned aerial vehicle by detecting the ground mark points and acquiring internal and external parameters of the detection equipment;
304. collecting the speed information of the air-light stream and the speed information of the ground-light stream of the unmanned aerial vehicle, fusing the speed information of the air-light stream, the speed information of the ground-light stream and the three-axis acceleration through a Kalman filter to obtain the stable relative speed of the unmanned aerial vehicle, and integrating the stable relative speed to obtain stable relative displacement data;
305. and positioning the unmanned aerial vehicle according to the acquired height information, the absolute position information and the relative displacement data.
In a specific embodiment, the method further comprises the following steps:
acquiring visual image information of the surrounding environment of the unmanned aerial vehicle, distance information between the unmanned aerial vehicle and surrounding objects, laser radar information around the unmanned aerial vehicle and various property characteristics of surrounding measurement objects and the environment, and acquiring the surrounding information of the unmanned aerial vehicle;
and converting the peripheral information of the unmanned aerial vehicle into route edge characteristic information under the world coordinate system of the unmanned aerial vehicle.
The application also provides a positioning device, the device comprising a processor and a memory:
the memory is used for storing the program codes and transmitting the program codes to the processor;
the processor is configured to execute the embodiments of the drone positioning method described herein according to instructions in the program code.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The terms "first," "second," "third," "fourth," and the like in the description of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. An unmanned aerial vehicle positioner, its characterized in that includes: an inertial navigation system;
the inertial navigation system comprises a processor module, and an inertial navigation measurement module, a dual-optical-flow module and a camera module which are connected with the processor module;
the inertial navigation measurement module is used for measuring three-axis acceleration of the unmanned aerial vehicle, three-axis angular velocity information and distance information between the unmanned aerial vehicle and the ground, and performing inclination angle compensation on the distance information by using the three-axis angular velocity to obtain height information of the unmanned aerial vehicle;
the camera module is used for detecting the ground mark points and calculating the absolute position information of the unmanned aerial vehicle according to the internal and external parameters of the camera;
the dual-optical-flow module is used for acquiring speed information of an air-optical flow and speed information of a ground-optical flow of the unmanned aerial vehicle; fusing the air-to-air optical flow velocity information, the ground optical flow velocity information and the three-axis acceleration in the processor module through a Kalman filter to obtain stable relative velocity of the unmanned aerial vehicle, and integrating the stable relative velocity to obtain stable relative displacement data;
the processor module is used for positioning the unmanned aerial vehicle according to the acquired height information, the absolute position information and the relative displacement data.
2. The drone positioning device of claim 1, further comprising: an air-to-ground light flow module;
the air-to-air optical flow module is used for detecting the optical flow change situation above the unmanned aerial vehicle, so that the air-to-air optical flow observation speed is obtained;
the earth light flow module is used for detecting the change condition of the light flow below the unmanned aerial vehicle, so that the earth light flow observation speed is obtained.
3. The drone positioning device of claim 1, further comprising:
the attitude detection module is used for measuring the three-axis acceleration and the three-axis angular velocity information of the unmanned aerial vehicle by adopting the attitude detection sensor, so that the processor module reads the three-axis angular velocity information acquired by the attitude detection module, solves the angle information of the unmanned aerial vehicle, and performs inclination angle compensation on the acquired ground distance information by using the angle information, thereby obtaining the height information of the unmanned aerial vehicle.
4. The drone positioning device of claim 1, further comprising:
and the ultrasonic module is used for acquiring distance information of the unmanned aerial vehicle to the ground, so that the processor module performs inclination angle compensation on the distance information according to the obtained three-axis angular velocity to obtain height information of the unmanned aerial vehicle to the ground.
5. The drone positioning device of claim 1, further comprising: a data acquisition unit and a data processor;
the data acquisition unit is respectively connected with a visual sensor, a distance sensor, a three-dimensional laser radar sensor and a touch sensor and is used for acquiring visual image information of the surrounding environment of the unmanned aerial vehicle acquired by the visual sensor, distance information of the unmanned aerial vehicle and surrounding objects acquired by the distance sensor, laser radar information of the surrounding of the unmanned aerial vehicle acquired by the three-dimensional laser radar sensor and various property characteristics of surrounding measurement objects and environments acquired by the touch sensor; uploading the acquired data to the data processing module;
and after the data processor processes the acquired data, the processed data are uploaded to a central processing unit, so that the information around the unmanned aerial vehicle is acquired.
6. An unmanned aerial vehicle positioning device as defined in claim 5, further comprising a central processor coupled to the data processor and the processor module, respectively:
the central processing unit is used for acquiring the data processed by the data processor and the data uploaded by the processor module, so that the processor module and the data processor can transmit the processed data to the central processing unit, and information acquisition of the surrounding environment of the unmanned aerial vehicle and positioning of the unmanned aerial vehicle are realized.
7. An unmanned aerial vehicle positioning method is characterized by comprising the following steps:
detecting three-axis acceleration, three-axis angular velocity information and distance information with the ground of the unmanned aerial vehicle;
adopting the three-axis angular velocity to perform dip angle compensation on the distance information to obtain height information of the unmanned aerial vehicle;
solving absolute position information of the unmanned aerial vehicle by detecting the ground mark points and acquiring internal and external parameters of the detection equipment;
collecting air-light stream velocity information and ground-light stream velocity information of an unmanned aerial vehicle, fusing the air-light stream velocity information, the ground-light stream velocity information and the three-axis acceleration through a Kalman filter to obtain stable relative velocity of the unmanned aerial vehicle, and integrating the stable relative velocity to obtain stable relative displacement data;
and positioning the unmanned aerial vehicle according to the acquired height information, the absolute position information and the relative displacement data.
8. The drone positioning method of claim 7, further comprising:
acquiring visual image information of the surrounding environment of the unmanned aerial vehicle, distance information between the unmanned aerial vehicle and surrounding objects, laser radar information around the unmanned aerial vehicle and various property characteristics of surrounding measurement objects and the environment, and acquiring the surrounding information of the unmanned aerial vehicle;
and converting the information around the unmanned aerial vehicle into route edge characteristic information under an unmanned aerial vehicle world coordinate system.
9. A positioning device, the device comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the drone positioning method of any one of claims 7-8 according to instructions in the program code.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium is configured to store program code for performing the drone positioning method of any one of claims 7-8.
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