摘要
本文设计了一种无人机飞行控制系统,通过设置在无人机上的摄像头获取无人机当前所处环境的双目图像;对双目图像进行图像处理,生成三维重建模型;根据三维重建模型检测无人机当前所处环境中是否存在障碍物;如果存在障碍物,则进一步确定障碍物与无人机的距离,并通过无线传输获取遥控器的指令,根据确定得到的距离生成避障指令,以控制航姿操纵机构执行相应的避障动作。本文所提供的无人机飞行控制系统,能够在飞行过程中自动执行避障操作,协助飞行控制器可靠安全地完成失控返航、飞行路线规划等功能,具有实用性以及广阔的应用前景。
This paper designs a UAV flight control system,which acquires the binocular image of the current environment of the UAV through the camera set on the UAV;performs image processing on the binocular image to generate a 3D reconstruction model;Detecting whether there is an obstacle in the current environment of the drone;if there is an obstacle,further determining the distance between the obstacle and the drone,and obtaining an instruction of the remote controller through wireless transmission,and generating an obstacle avoidance instruction according to the determined distance To control the attitude and attitude control mechanism to perform corresponding obstacle avoidance actions.The UAV flight control system provided in this paper can automatically perform obstacle avoidance operation during flight,assist the flight controller to complete the functions of runaway return flight and flight route planning reliably and safely,and has practicality and broad application prospects.
作者
周丽荣
ZHOU Li-rong(School of Aeronautical Engineering,Jilin Institute of Chemical Technology,Jilin Jilin 132022,China)
出处
《新一代信息技术》
2019年第14期89-93,共5页
New Generation of Information Technology
基金
校级科研课题:基于STM32微控制器的视频叠加模块设计(项目编号:20170301)。
关键词
无人机
飞行控制系统
避障
失控返航
路线规划
UAV
Flight control
Obstacle avoidance
Out of control return
Route planning
