CN207095576U - A kind of small-sized four-axle aircraft based on IMU and visual odometry - Google Patents
A kind of small-sized four-axle aircraft based on IMU and visual odometry Download PDFInfo
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- CN207095576U CN207095576U CN201720960869.XU CN201720960869U CN207095576U CN 207095576 U CN207095576 U CN 207095576U CN 201720960869 U CN201720960869 U CN 201720960869U CN 207095576 U CN207095576 U CN 207095576U
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Abstract
It the utility model is related to a kind of small-sized four-axle aircraft based on IMU and visual odometry, including the aircraft fuselage using the symmetrical structure of four rotors, in addition to GPS module, Inertial Measurement Unit, vision sensor, wireless communication module, flight control modules and power module on the aircraft fuselage；The Inertial Measurement Unit includes the gyroscope and A/D converter of the accelerometer of three single shafts, three single shafts.Compared with prior art, the utility model overcomes the shortcomings that inertial positioning and vision positioning, hence it is evident that improves the positioning precision and security of small-sized four-axle aircraft, has the advantages that strong antijamming capability, real-time are good.
Description
Technical field
Aerial vehicle position field of navigation technology is the utility model is related to, IMU and vision mileage are based on more particularly, to one kind
The small-sized four-axle aircraft of meter.
Background technology
Positioning is one of key technology of mobile robot application, is the matter of utmost importance that robot realizes autonomy-oriented,
And the basis of robot autonomous navigation and path planning.Location technology is divided into relative positioning and the class of absolute fix 2.It is definitely fixed
Position refers to actively or passively identify using the Xin Biao ﹑ that navigate or Satellite Navigation Technique GPS is positioned.Relative positioning is then using used
Property sensor, odometer and vision sensor etc. determine position and appearance of the robot in operating environment relative to initial time
State.
GPS has good stationkeeping ability, and typically there is the place of beacon or gps signal covering application scenario in outdoor,
And the influence being easily disturbed with the uncertain factor such as satellite failure be present.Inertial navigation system (INS) is by inertia measurement
Carrier angular speed that unit (IMU) measures, acceleration carry out computing and conversion obtains various navigation informations, its advantage be it is complete from
Main, strong antijamming capability, disguise, real-time are good.But the weak point of inertial navigation system is, navigation positioning error can be with
Accumulated time.
The location technology of view-based access control model odometer is more novel at present and studies a kind of more location technology.In vision
Extraction environment feature in the ambient image that journey meter obtains from robot kinematics, it is special according to camera imaging projection model and environment
The image coordinate change of sign, estimate the pose change of robot, be that a kind of robot of passive non-contact measurement is relatively fixed
Position method.Compared to localization methods such as inertial navigation and GPS, visual odometry has accumulated error small, not special by environment earth's surface
Property and application space limitation etc. it is prominent the advantages of.But when vision sensor data sampling rate compared with robot movement velocity it is relatively low
When, point of interest number can be caused to reduce and cause estimated accuracy to reduce.And it is different from vision positioning, inertial sensor is for short-term
Motion prediction precision is preferable, will not be influenceed by unexpected motion change.
Utility model content
The purpose of this utility model be exactly in order to provided the defects of overcoming above-mentioned prior art to exist it is a kind of based on IMU and
The small-sized four-axle aircraft of visual odometry.
The purpose of this utility model can be achieved through the following technical solutions：
A kind of small-sized four-axle aircraft based on IMU and visual odometry, including using the symmetrical structure of four rotors
Aircraft fuselage, in addition to GPS module on the aircraft fuselage, Inertial Measurement Unit, vision sensor, channel radio
Interrogate module, flight control modules and power module；The Inertial Measurement Unit includes accelerometer, three single shafts of three single shafts
Gyroscope and A/D converter.
The vision sensor includes camera, located at the bottom of the aircraft fuselage.
The quantity of the camera is 1.
The aircraft also includes the undercarriage located at the aircraft fuselage bottom.
The rotor of the aircraft fuselage includes motor and the propeller on motor.
The aircraft is connected by wireless communication module with remote control center.
Compared with prior art, the utility model carries inertial navigation unit on four-axle aircraft and combines vision mileage
Meter, is used as observation by visual odometry location estimation result, with the positioning for correcting inertial navigation unit and GPS module obtains
With the error of the observation model of the information such as pose, the shortcomings that overcoming inertial positioning and vision positioning, hence it is evident that improve small-sized four
The positioning precision and security of axle aircraft, have the advantages that strong antijamming capability, real-time are good.
Brief description of the drawings
Fig. 1 is half sectional view of the present utility model；
Fig. 2 is top view of the present utility model.
Marked in figure：1st, propeller, 2, motor, 3, aircraft fuselage, 4, GPS module, 5, camera, 6, power supply mould
Block, 7, Inertial Measurement Unit, 8, flight control modules, 9, undercarriage.
Embodiment
The utility model is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with the utility model
Implemented premised on technical scheme, give detailed embodiment and specific operating process, but guarantor of the present utility model
Shield scope is not limited to following embodiments.
A kind of small-sized four-axle aircraft based on IMU and visual odometry, it uses a kind of small-sized four-axle aircraft structure,
By carrying gps satellite receiving module, inertial navigation system and visual odometry, the Various types of data that will be gathered in flight course
Information, shift position and operating state etc. are sent to remote control center, then according to the relative position of aircraft and environmental characteristic
Put the world coordinates that aircraft is determined with the measurement estimation feature of odometer.As depicted in figs. 1 and 2, this aircraft includes using
The aircraft fuselage 3 of the symmetrical structure of four rotors, in addition to GPS module 4 on the aircraft fuselage 3, inertia measurement list
Member 7, vision sensor, wireless communication module, flight control modules 8 and power module 6；Inertial Measurement Unit 7 includes three lists
The gyroscope and A/D converter of the accelerometer of axle, three single shafts.Aircraft passes through wireless communication module and remote control center
Communication connection.Power module 6 provides electric energy to other modules.
The rotor of this aircraft is symmetrically distributed in the front, rear, left and right four direction of aircraft fuselage 3, and four rotors are in
Sustained height plane, and the structure of four rotors and radius are all identical, four motors 2 are symmetrically installed on aircraft fuselage
Flight control modules 8 and other each navigation modules are laid in 3 bracket end, the space among support.The bottom of aircraft fuselage 3 is provided with
Undercarriage 9.Quadrotor changes variable rotor speed by adjusting four rotating speeds of motor 2, realizes the change of lift, from
And control posture and the position of aircraft.The basic motion principle flight of this aircraft applications, four propellers 1 of aircraft are logical
Motor 2 of overdriving drives, using criss-cross layout, the identical while adjacent propeller 1 in the relative direction of rotation of propeller 1
On the contrary, therefore when aircraft balances flight, gyroscopic effect and air force moment of torsion effect are cancelled for direction of rotation.
In order to keep the stabilized flight of aircraft, Inertial Measurement Unit 7 is housed on four-axle aircraft.In the present embodiment,
Inertial Measurement Unit 7 uses MQ-ARCH, including the gyroscope of the accelerometer of three single shafts, three single shafts and A/D conversions
Device.Accelerometer and gyroscope measure the orientation, posture and three-dimensional instantaneous position of aircraft respectively, then will by A/D converter
Analog signal is converted to data signal.In combination with GPS module 4, can calculate aircraft now with respect to ground posture with
And acceleration, angular speed.Flight control modules 8 calculate the revolving force and liter that keep needed for aircraft motion state by algorithm
Power, ensure that motor 2 exports suitable driving force by electronic adjusting controller.
Visual odometry realizes that vision sensor includes 1 camera 5, located at flight by vision sensor
The bottom of device fuselage 3.Camera calibration tool box (the Camera that camera 5 is developed using Jean-Yves Bouguet
Calibra-tion Toolbox for MATLAB) demarcated.During aircraft flight, the Continuous Observation ring of camera 5
The characteristic point in border, realized and positioned using image feature extraction techniques.Visual odometry obtains former and later two continuous samplings moment
Relative pose, divided by the time difference at former and later two moment, the relative linear velocity and angular speed of aircraft are just obtained, in this, as sight
Measured value.
Aircraft obtains the observation model of the information such as positioning and pose by GPS module 4 and Inertial Measurement Unit 7, then leads to
The error that visual odometry location estimation result constantly corrects Inertial Measurement Unit 7 as the observation of observation model is crossed, is improved
The positioning precision and security of aircraft.
Claims (6)
1. a kind of small-sized four-axle aircraft based on IMU and visual odometry, including flown using the symmetrical structure of four rotors
Row device fuselage, it is characterised in that also including the GPS module on the aircraft fuselage, Inertial Measurement Unit, visual sensing
Device, wireless communication module, flight control modules and power module；The Inertial Measurement Unit includes the acceleration of three single shafts
The gyroscope and A/D converter of meter, three single shafts.
A kind of 2. small-sized four-axle aircraft based on IMU and visual odometry according to claim 1, it is characterised in that
The vision sensor includes camera, located at the bottom of the aircraft fuselage.
A kind of 3. small-sized four-axle aircraft based on IMU and visual odometry according to claim 2, it is characterised in that
The quantity of the camera is 1.
A kind of 4. small-sized four-axle aircraft based on IMU and visual odometry according to claim 1, it is characterised in that
The aircraft also includes the undercarriage located at the aircraft fuselage bottom.
A kind of 5. small-sized four-axle aircraft based on IMU and visual odometry according to claim 1, it is characterised in that
The rotor of the aircraft fuselage includes motor and the propeller on motor.
A kind of 6. small-sized four-axle aircraft based on IMU and visual odometry according to claim 1, it is characterised in that
The aircraft is connected by wireless communication module with remote control center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720960869.XU CN207095576U (en) | 2017-08-03 | 2017-08-03 | A kind of small-sized four-axle aircraft based on IMU and visual odometry |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720960869.XU CN207095576U (en) | 2017-08-03 | 2017-08-03 | A kind of small-sized four-axle aircraft based on IMU and visual odometry |
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| CN207095576U true CN207095576U (en) | 2018-03-13 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110018691A (en) * | 2019-04-19 | 2019-07-16 | 天津大学 | Small-sized multi-rotor unmanned aerial vehicle state of flight estimating system and method |
-
2017
- 2017-08-03 CN CN201720960869.XU patent/CN207095576U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110018691A (en) * | 2019-04-19 | 2019-07-16 | 天津大学 | Small-sized multi-rotor unmanned aerial vehicle state of flight estimating system and method |
| CN110018691B (en) * | 2019-04-19 | 2022-04-15 | 天津大学 | Flight state estimation system and method for small multi-rotor unmanned aerial vehicle |
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