摘要
为了改善采用GPS(卫星导航技术)四旋翼飞行器在有遮挡物等因素下精确度不高及光学动作捕捉系统价格昂贵等不足,提出由光流模块实现定点悬停的技术。该技术将光流模块安置在四旋翼飞行器四轴底部的扩展接口处,通过SPI方式与四轴通信的光学追踪传感器PMW3901和IIC方式与四轴通信的激光测距传感器VL53L0X共同作用。使用匿名科创地面站对电脑端虚拟四旋翼飞行器仿真,记录并分析数据,室外试飞验证等,得出结论,证明该技术的可行性、可靠性、稳定性及精确性。
In order to improve the use of GPS(satellite navigation technology)quadrotor aircraft with obstructions and other factors,such as low accu⁃racy and expensive optical motion capture systems,it proposes the technology of fixed-point hover by optical flow module.This technology places the optical flow module at the extended interface at the bottom of the quad-rotor of the quad-rotor.The optical tracking sensor PMW3901 that communicates with the quad-axis through the SPI method and the laser ranging sensor VL53L0X that communicates with the quad-axis work together.An anonymous science and technology ground station was used to simulate a computer-side virtual quadrotor,record and analyze data,and verify outdoor test flights.The conclusion was drawn to prove the feasibility,reliability,stability and accuracy of the technology.
作者
李蕊冰
LI Rui-bing(School of Electronic Engineering,Xi'an Shiyou University,Xi'an 710000)
出处
《现代计算机》
2020年第21期15-17,21,共4页
Modern Computer
基金
国家自然科学基金(No.51604226)
陕西省自然科学基础研究计划(No.2018JM5064)。
关键词
光流模块
定点悬停
光学追踪传感器
激光测距传感器
Optical Flow Module
Fixed-Point Hovering
Optical Tracking Sensor
Laser Ranging Sensor
