CN215767102U - Airborne inertial/polarized light/optical flow/visual combined navigation device - Google Patents
Airborne inertial/polarized light/optical flow/visual combined navigation device Download PDFInfo
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- CN215767102U CN215767102U CN202123204111.9U CN202123204111U CN215767102U CN 215767102 U CN215767102 U CN 215767102U CN 202123204111 U CN202123204111 U CN 202123204111U CN 215767102 U CN215767102 U CN 215767102U
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Abstract
The utility model relates to a navigation technology, in particular to an airborne inertial/polarized light/optical flow/visual combined navigation device. The utility model solves the problem of poor navigation precision when the inertial/polarized light/optical flow/visual combined navigation technology is applied to unmanned aerial vehicle navigation. An airborne inertial/polarized light/optical flow/visual combined navigation device comprises an unmanned aerial vehicle, an upper layer shock absorption frame, an inertial/polarized light combined navigator, a lower layer shock absorption frame, a self-stabilizing cradle head and an inertial/optical flow/visual combined navigator, wherein the upper layer shock absorption frame is arranged on the upper layer; the inertial/polarized light combined navigator comprises a box-shaped shell A, a rectangular cover plate A, an inertial measurement unit A, a polarization detector and a microprocessor A; the inertia/optical flow/vision combined navigator comprises a box-shaped shell B, a rectangular cover plate B, an inertia measuring unit B, an optical flow sensor, a vision sensor, a laser sensor and a microprocessor B. The utility model is suitable for unmanned aerial vehicle navigation.
Description
Technical Field
The utility model relates to a navigation technology, in particular to an airborne inertial/polarized light/optical flow/visual combined navigation device.
Background
At present, the inertial/polarized light/optical flow/visual combined navigation technology is more and more widely applied to the navigation field because of the advantages of complete navigation parameters, strong autonomy, good concealment, large working range, long working time and the like. However, when the navigation technology is applied to unmanned aerial vehicle navigation, the problem of poor navigation accuracy generally exists due to the influence of high-frequency vibration and installation error of the unmanned aerial vehicle. Therefore, it is necessary to provide an onboard inertial/polarized light/optical flow/visual integrated navigation device to solve the problem of poor navigation accuracy when the inertial/polarized light/optical flow/visual integrated navigation technology is applied to unmanned aerial vehicle navigation.
Disclosure of Invention
The utility model provides an onboard inertial/polarized light/optical flow/visual combined navigation device, aiming at solving the problem of poor navigation precision when an inertial/polarized light/optical flow/visual combined navigation technology is applied to unmanned aerial vehicle navigation.
The utility model is realized by adopting the following technical scheme:
an airborne inertial/polarized light/optical flow/visual combined navigation device comprises an unmanned aerial vehicle, an upper layer shock absorption frame, an inertial/polarized light combined navigator, a lower layer shock absorption frame, a self-stabilizing cradle head and an inertial/optical flow/visual combined navigator, wherein the upper layer shock absorption frame is arranged on the upper layer;
the upper-layer damping frame comprises a mounting flat plate A, a bearing flat plate A and four damping balls A; the mounting flat plate A is fixed on the upper surface of a frame of the unmanned aerial vehicle; the bearing flat plate A is positioned above the installation flat plate A, and the bearing flat plate A and the installation flat plate A are opposite to each other; the four damping balls A are all fixed between the mounting flat plate A and the bearing flat plate A and are arranged in a rectangular shape;
the inertial/polarized light combined navigator comprises a box-shaped shell A, a rectangular cover plate A, an inertial measurement unit A, a polarization detector and a microprocessor A;
the box-shaped shell A is fixed on the upper surface of the bearing flat plate A, and an opening is formed in the upper end of the box-shaped shell A; the rectangular cover plate A covers the upper end opening of the box-shaped shell A, and a detection hole is formed in the center of the surface of the rectangular cover plate A in a penetrating mode; the inertia measurement unit A, the polarization detector and the microprocessor A are all fixed in the box-shaped shell A; the inertia measurement unit A and the polarization detector are both electrically connected with the microprocessor A; the microprocessor A is electrically connected with a flight control module of the unmanned aerial vehicle;
the lower-layer shock absorption frame comprises a mounting flat plate B, a bearing flat plate B and four shock absorption balls B; the mounting flat plate B is fixed on the lower surface of the frame of the unmanned aerial vehicle; the bearing flat plate B is positioned below the mounting flat plate B, and the bearing flat plate B is opposite to the mounting flat plate B; the four damping balls B are all fixed between the mounting flat plate B and the bearing flat plate B and are arranged in a rectangular shape;
the self-stabilizing cradle head is fixed on the lower surface of the bearing flat plate B;
the inertia/optical flow/vision combined navigator comprises a box-shaped shell B, a rectangular cover plate B, an inertia measurement unit B, an optical flow sensor, a vision sensor, a laser sensor and a microprocessor B; the box-shaped shell B is fixed on the self-stabilizing cradle head, and an opening is formed in the upper end of the box-shaped shell B; the rectangular cover plate B covers the upper end opening of the box-shaped shell B; the inertia measurement unit B is fixed in the box-shaped shell B; the optical flow sensor, the vision sensor and the laser sensor are fixed on the lower side wall of the box-shaped shell B in a penetrating way; the inertial measurement unit B, the optical flow sensor, the visual sensor and the laser sensor are all electrically connected with the microprocessor B; and the microprocessor B is respectively electrically connected with the microprocessor A, the flight control module of the unmanned aerial vehicle and the self-stabilizing cradle head.
During operation, the inertia measurement unit A collects the attitude information of the unmanned aerial vehicle in real time and sends the collected information to the microprocessor A in real time. The polarization detector collects polarized light information in the sky in real time and sends the collected information to the microprocessor A in real time. The inertia measurement unit B collects attitude information of the unmanned aerial vehicle in real time and sends the collected information to the microprocessor B in real time. The optical flow sensor collects horizontal movement information of the unmanned aerial vehicle in real time and sends the collected information to the microprocessor B in real time. The vision sensor collects image information of the ground in real time and sends the collected information to the microprocessor B in real time. The laser sensor collects the flight height information of the unmanned aerial vehicle in real time and sends the collected information to the microprocessor B in real time. The microprocessor A or the microprocessor B fuses the information received by the microprocessor A and the microprocessor B (if the microprocessor A fuses, the microprocessor B needs to send the received information to the microprocessor A in real time, if the microprocessor B fuses, the microprocessor A needs to send the received information to the microprocessor B in real time), and the fused information is sent to a flight control module of the unmanned aerial vehicle in real time. And the flight control module of the unmanned aerial vehicle controls the unmanned aerial vehicle to fly in real time according to the received information, so that the inertial/polarized light/optical flow/visual combined navigation of the unmanned aerial vehicle is realized. In this process, the upper shock mount can reduce the influence of unmanned aerial vehicle high frequency vibrations to inertia/polarized light combination navigator, and the lower floor shock mount can reduce the influence of unmanned aerial vehicle high frequency vibrations to inertia/light stream/vision combination navigator, effectively reduces the influence of unmanned aerial vehicle high frequency vibrations to the navigation precision from this. The microprocessor B sends the received attitude information to the self-stabilizing cradle head in real time, and the self-stabilizing cradle head performs self-stabilization according to the received attitude information, so that the influence of installation errors on navigation precision is effectively reduced.
Based on the process, the airborne inertial/polarized light/optical flow/visual combined navigation device disclosed by the utility model realizes the inertial/polarized light/optical flow/visual combined navigation of the unmanned aerial vehicle by adopting a brand-new structure, and can effectively reduce the influence of high-frequency vibration and installation errors of the unmanned aerial vehicle on the navigation precision, thereby effectively improving the navigation precision.
The utility model has simple structure and reasonable design, effectively solves the problem of poor navigation precision when the inertia/polarized light/optical flow/vision combined navigation technology is applied to unmanned aerial vehicle navigation, and is suitable for unmanned aerial vehicle navigation.
Drawings
Fig. 1 is a schematic structural view of the present invention.
FIG. 2 is a schematic structural diagram of the upper shock-absorbing mount and inertial/polarized light combined navigator of the utility model.
FIG. 3 is a schematic structural diagram of a lower shock-absorbing mount, a self-stabilizing cradle head, and an inertial/optical flow/visual integrated navigator in the present invention.
In the figure: 1-unmanned aerial vehicle, 201-installation panel A, 202-bearing panel A, 203-damping ball A, 301-box-shaped shell A, 302-rectangular cover plate A, 303-detection hole, 401-installation panel B, 402-bearing panel B, 403-damping ball B, 5-self-stabilizing holder, 601-box-shaped shell B, 602-rectangular cover plate B, 603-optical flow sensor, 604-visual sensor.
Detailed Description
An airborne inertial/polarized light/optical flow/visual combined navigation device comprises an unmanned aerial vehicle 1, an upper layer shock absorption frame, an inertial/polarized light combined navigator, a lower layer shock absorption frame, a self-stabilizing cradle head 5 and an inertial/optical flow/visual combined navigator;
the upper-layer damping frame comprises a mounting flat plate A201, a bearing flat plate A202 and four damping balls A203; the mounting panel A201 is fixed on the upper surface of the frame of the unmanned aerial vehicle 1; the bearing plate A202 is positioned above the installation plate A201, and the bearing plate A202 is opposite to the installation plate A201; the four damping balls A203 are all fixed between the mounting flat plate A201 and the bearing flat plate A202, and the four damping balls A203 are arranged in a rectangular shape;
the inertial/polarized light combined navigator comprises a box-shaped shell A301, a rectangular cover plate A302, an inertial measurement unit A, a polarization detector and a microprocessor A;
the box-shaped shell A301 is fixed on the upper surface of the bearing flat plate A202, and an opening is formed in the upper end of the box-shaped shell A301; the rectangular cover plate A302 covers the upper opening of the box-shaped shell A301, and the center of the surface of the rectangular cover plate A302 is provided with a detection hole 303 in a penetrating manner; the inertia measurement unit A, the polarization detector and the microprocessor A are all fixed in the box-shaped shell A301; the inertia measurement unit A and the polarization detector are both electrically connected with the microprocessor A; the microprocessor A is electrically connected with a flight control module of the unmanned aerial vehicle 1 and the self-stabilizing cradle head 5;
the lower-layer shock absorption frame comprises a mounting flat plate B401, a bearing flat plate B402 and four shock absorption balls B403; the mounting flat plate B401 is fixed on the lower surface of the frame of the unmanned aerial vehicle 1; the bearing flat plate B402 is positioned below the mounting flat plate B401, and the bearing flat plate B402 is opposite to the mounting flat plate B401; the four damping balls B403 are all fixed between the mounting flat plate B401 and the bearing flat plate B402, and the four damping balls B403 are arranged in a rectangular shape;
the self-stabilizing cradle head 5 is fixed on the lower surface of the bearing flat plate B402;
the inertial/optical flow/visual combined navigator comprises a box-shaped shell B601, a rectangular cover plate B602, an inertial measurement unit B, an optical flow sensor 603, a visual sensor 604, a laser sensor and a microprocessor B; the box-shaped shell B601 is fixed on the self-stabilizing cradle head 5, and an opening is formed in the upper end of the box-shaped shell B601; the rectangular cover plate B602 covers the upper opening of the box-shaped shell B601; the inertia measurement unit B is fixed in the box-shaped shell B601; the optical flow sensor 603, the visual sensor 604 and the laser sensor are fixed to the lower side wall of the box-shaped housing B601 through penetration; the inertial measurement unit B, the optical flow sensor 603, the visual sensor 604 and the laser sensor are all electrically connected with the microprocessor B; and the microprocessor B is respectively and electrically connected with the microprocessor A, the flight control module of the unmanned aerial vehicle 1 and the self-stabilizing cradle head 5.
The Z-axis of the inertial measurement unit A, the Z-axis of the polarization detector, the Z-axis of the inertial measurement unit B and the Z-axis of the optical flow sensor 603 are all coincident. In operation, the design can further reduce the influence of installation errors on navigation accuracy.
Unmanned aerial vehicle 1 is four rotor unmanned aerial vehicle.
The self-stabilizing holder 5 is a three-axis self-stabilizing holder.
A series of mounting holes are formed through the surface of the mounting plate a201, the surface of the bearing plate a202, the side wall of the box-shaped casing a301, the surface of the rectangular cover plate a302, the surface of the mounting plate B401, the surface of the bearing plate B402, the side wall of the box-shaped casing B601 and the surface of the rectangular cover plate B602.
In specific implementation, the arrangement form of the mounting holes is determined according to actual needs.
While specific embodiments of the utility model have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the utility model is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the utility model, and these changes and modifications are within the scope of the utility model.
Claims (5)
1. An airborne inertial/polarized light/optical flow/visual integrated navigation device, comprising: the device comprises an unmanned aerial vehicle (1), an upper layer shock absorption frame, an inertia/polarized light combined navigator, a lower layer shock absorption frame, a self-stabilizing cradle head (5) and an inertia/light stream/vision combined navigator;
the upper-layer damping frame comprises a mounting flat plate A (201), a bearing flat plate A (202) and four damping balls A (203); the mounting panel A (201) is fixed on the upper surface of a frame of the unmanned aerial vehicle (1); the bearing flat plate A (202) is positioned above the mounting flat plate A (201), and the bearing flat plate A (202) and the mounting flat plate A (201) are opposite to each other; the four damping balls A (203) are all fixed between the mounting flat plate A (201) and the bearing flat plate A (202), and the four damping balls A (203) are arranged in a rectangular shape;
the inertial/polarized light combined navigator comprises a box-shaped shell A (301), a rectangular cover plate A (302), an inertial measurement unit A, a polarization detector and a microprocessor A;
the box-shaped shell A (301) is fixed on the upper surface of the bearing flat plate A (202), and an opening is formed in the upper end of the box-shaped shell A (301); the rectangular cover plate A (302) covers the upper opening of the box-shaped shell A (301), and a detection hole (303) is formed in the center of the surface of the rectangular cover plate A (302) in a penetrating mode; the inertia measurement unit A, the polarization detector and the microprocessor A are all fixed in the box-shaped shell A (301); the inertia measurement unit A and the polarization detector are both electrically connected with the microprocessor A; the microprocessor A is electrically connected with a flight control module of the unmanned aerial vehicle (1);
the lower-layer shock absorption frame comprises a mounting flat plate B (401), a bearing flat plate B (402) and four shock absorption balls B (403); the mounting flat plate B (401) is fixed on the lower surface of a frame of the unmanned aerial vehicle (1); the bearing flat plate B (402) is positioned below the mounting flat plate B (401), and the bearing flat plate B (402) and the mounting flat plate B (401) are opposite to each other; the four damping balls B (403) are all fixed between the mounting flat plate B (401) and the bearing flat plate B (402), and the four damping balls B (403) are arranged in a rectangular shape;
the self-stabilizing cradle head (5) is fixed on the lower surface of the bearing flat plate B (402);
the inertial/optical flow/visual combined navigator comprises a box-shaped shell B (601), a rectangular cover plate B (602), an inertial measurement unit B, an optical flow sensor (603), a visual sensor (604), a laser sensor and a microprocessor B; the box-shaped shell B (601) is fixed on the self-stabilizing cradle head (5), and an opening is formed in the upper end of the box-shaped shell B (601); the rectangular cover plate B (602) covers the upper end opening of the box-shaped shell B (601); the inertia measurement unit B is fixed in the box-shaped shell B (601); the optical flow sensor (603), the visual sensor (604) and the laser sensor are fixed on the lower side wall of the box-shaped shell B (601) in a penetrating way; the inertial measurement unit B, the optical flow sensor (603), the visual sensor (604) and the laser sensor are all electrically connected with the microprocessor B; and the microprocessor B is respectively and electrically connected with the microprocessor A, a flight control module of the unmanned aerial vehicle (1) and the self-stabilizing cradle head (5).
2. The combined inertial/polarized light/optical flow/visual navigation device of claim 1, wherein: the Z axis of the inertial measurement unit A, the Z axis of the polarization detector, the Z axis of the inertial measurement unit B and the Z axis of the optical flow sensor (603) are coincident.
3. The combined inertial/polarized light/optical flow/visual navigation device of claim 1, wherein: unmanned aerial vehicle (1) is four rotor unmanned aerial vehicle.
4. The combined inertial/polarized light/optical flow/visual navigation device of claim 1, wherein: the self-stabilizing holder (5) is a three-axis self-stabilizing holder.
5. The combined inertial/polarized light/optical flow/visual navigation device of claim 1, wherein: a series of mounting holes are formed through the surface of the mounting flat plate A (201), the surface of the bearing flat plate A (202), the side wall of the box-shaped shell A (301), the surface of the rectangular cover plate A (302), the surface of the mounting flat plate B (401), the surface of the bearing flat plate B (402), the side wall of the box-shaped shell B (601) and the surface of the rectangular cover plate B (602).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123204111.9U CN215767102U (en) | 2021-12-20 | 2021-12-20 | Airborne inertial/polarized light/optical flow/visual combined navigation device |
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| CN202123204111.9U CN215767102U (en) | 2021-12-20 | 2021-12-20 | Airborne inertial/polarized light/optical flow/visual combined navigation device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113739795A (en) * | 2021-06-03 | 2021-12-03 | 东北电力大学 | Underwater synchronous positioning and mapping method based on polarized light/inertia/vision combined navigation |
| CN114594768A (en) * | 2022-03-03 | 2022-06-07 | 安徽大学 | Mobile robot navigation decision-making method based on visual feature map reconstruction |
-
2021
- 2021-12-20 CN CN202123204111.9U patent/CN215767102U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113739795A (en) * | 2021-06-03 | 2021-12-03 | 东北电力大学 | Underwater synchronous positioning and mapping method based on polarized light/inertia/vision combined navigation |
| CN113739795B (en) * | 2021-06-03 | 2023-10-20 | 东北电力大学 | Underwater synchronous positioning and mapping method based on polarized light/inertia/vision integrated navigation |
| CN114594768A (en) * | 2022-03-03 | 2022-06-07 | 安徽大学 | Mobile robot navigation decision-making method based on visual feature map reconstruction |
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