摘要
为实现四旋翼无人机的自主路径飞行,提出了在无GPS信号环境下基于光流传感器和激光测距仪的四旋翼无人机自主飞行平台设计方法。所搭建能适用于室内外环境的四旋翼无人机自主飞行平台,是以Pixhawk4飞行控制板为控制核心,以树莓派作为机载计算机系统的。将北醒TFmini PLUS激光测距仪用于定高控制,将LC-302型光流传感器用于光流定点控制,并在激光定高、光流定点和机载计算机代码控制的基础上进行了软件设计。完成了四旋翼无人机自主路径飞行实验。实验结果表明:采用所提出设计方法让四旋翼无人机基本完成了预设飞行轨迹任务,实现了自主路径飞行。
To enable autonomous path flight of the quadrotor UAV,this paper proposes on autonomous flight design based on optical flow sensor and laser rangefinder is proposed without GPS signal.The method is to build a set of indoor and outdoor quadrotor UAV flight platform,with Pixhawk4 flight control board as the core,Raspberry PI as the airborne computer,Beixing TFmini PLUS laser ranging radar for height control,optical flow sensor LC-302 for optical flow positioning.The software is designed on the basis of laser height fixing,optical flow fixing and airborne computer code control.Through experimental verification,the proposed method can complete the preset flight path task and realize the autonomous path flight of the quadrotor UAV.
作者
张利民
刘若阳
黄亦杰
莫晓璇
邱明浩
ZHANG Limin;LIU Ruoyang;HUANG Yijie;MO Xiaoxuan;QIU Minghao(School of Information and Communication Engineering,Zhongyuan University of Technology,Zhengzhou 450007,China)
出处
《中原工学院学报》
CAS
2024年第3期31-35,共5页
Journal of Zhongyuan University of Technology
基金
河南省重点研发与推广专项(科技攻关项目)(212102210497,222102210275,232102111129)
中原工学院基本科研业务费专项资金项目(K2022YY010)
中原工学院优势学科实力提升计划项目(SD202210)。
