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Image perspective-based micro unmanned aerial vehicle indoor autonomous navigation method

An autonomous navigation and drone technology, applied in the field of drone navigation, can solve the problems of low positioning accuracy, poor real-time performance, and large amount of calculation, and achieve the effect of high positioning accuracy, low hardware requirements, and strong real-time performance

Active Publication Date: 2014-07-16
陕西工大锐迪信息技术有限公司
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AI Technical Summary

Problems solved by technology

[0005] For the indoor flying environment of micro-UAVs, the focus is on high-precision positioning and spatial obstacle perception and avoidance. Compared with inertial navigation and GPS navigation, visual navigation has unique advantages in obstacle perception. Therefore, it is extremely important to study vision-based indoor autonomous navigation. Important, the general method is to use a high-resolution camera to shoot the surrounding environment and perform three-dimensional reconstruction, and determine a reasonable flight path based on the reconstruction results. However, this method requires a large amount of calculation, poor real-time performance, and high hardware requirements. Positioning accuracy is low

Method used

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  • Image perspective-based micro unmanned aerial vehicle indoor autonomous navigation method
  • Image perspective-based micro unmanned aerial vehicle indoor autonomous navigation method
  • Image perspective-based micro unmanned aerial vehicle indoor autonomous navigation method

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specific Embodiment

[0066] 1. During the indoor flight of the micro UAV, the onboard front-view camera Camera1 acquires image a in real time, and the onboard down-view camera Camera2 acquires image b in real time.

[0067] Utilize the forward-looking optical camera and the downward-looking optical camera onboard the UAV to acquire image sequences in real time, but only need to save the current frame and the previous frame image.

[0068] 2. Design an indoor environment classifier to judge the environment type of the micro drone by preprocessing the image a and image b.

[0069] The specific process is as figure 2 As shown, the Canny edge detection operator is first used to process the image a, and then the Hough transform is used to extract the straight line. Since the vanishing point is the intersection point of the oblique lines in the image, the detected horizontal and vertical lines need to be removed. In view of the error in the straight line extraction, the image The intersection points o...

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Abstract

The invention provides an image perspective-based micro unmanned aerial vehicle indoor autonomous navigation method. An indoor environment is divided into a corridor, a step and a room, a environmental form is determined by analyzing perspective characteristics of a visual image, obstacle detection is further performed by methods with vanish points, center lines or light streams to obtain corresponding navigation and control information, and micro unmanned aerial vehicle indoor autonomous obstacle avoidance and flight can be realized. An environmental three-dimensional model is not needed, the algorithm operating time can be greatly shortened, the real-time property of a control instruction is improved, and the method has high autonomous property and high reliability. The method is low in calculated amount, high in real-time property, low in hardware requirement and high in positioning accuracy and provides a feasible technical scheme for engineering application to indoor navigation of a micro unmanned aerial vehicle.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle navigation, and in particular relates to an indoor autonomous navigation method of a miniature unmanned aerial vehicle based on image perspective. Background technique [0002] Micro UAV refers to an aircraft with the size of a palm, which can be used as a battlefield reconnaissance equipment carried by soldiers. Its potential functions include aerial surveillance, biological warfare agent detection, target identification, communication relay, etc., and it can be used in large buildings. It has unique advantages in detection. [0003] High-precision and highly reliable autonomous navigation technology is one of the key technologies to ensure the successful completion of various tasks of micro-UAVs. It is of great significance to enhance the autonomous behavior capabilities of micro-UAVs and improve combat effectiveness. At present, the basic idea of ​​​​realizing the autonomous na...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G05D1/10
CPCG01C21/206G05D1/102
Inventor 赵春晖王荣志张天武潘泉马鑫
Owner 陕西工大锐迪信息技术有限公司
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