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External vision-based four-rotor unmanned aerial vehicle fully-autonomous flight control system

A flight control system and quadrotor aircraft technology, applied in attitude control, three-dimensional position/course control and other directions, can solve the problems of lack of intuitiveness in flight data processing, lack of fully autonomous flight control ability, etc., and achieve the effect of rapid discovery

Active Publication Date: 2015-07-29
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problems that the existing flight control systems generally do not have fully autonomous flight control capabilities and lack of intuition for flight data processing, and provide a fully autonomous flight control system for quadrotor unmanned aerial vehicles based on external vision

Method used

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  • External vision-based four-rotor unmanned aerial vehicle fully-autonomous flight control system
  • External vision-based four-rotor unmanned aerial vehicle fully-autonomous flight control system
  • External vision-based four-rotor unmanned aerial vehicle fully-autonomous flight control system

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Experimental program
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Embodiment

[0018] Step 1. Press figure 1 In the structure shown in the block diagram, in a certain indoor space (such as 5x5x3.5 meters), the VICON visual positioning system with more than 8 cameras is arranged around it. At the same time, it is equipped with a PC computer, a programmable quadrotor aircraft and a pair of wireless communication module XBee.

[0019] Step 2. Connect the XBee to the serial port of the quadrotor and the serial port of the PC respectively. Develop a communication protocol between the quadrotor and the PC. The content of the agreement is as figure 2 shown.

[0020] Write the communication program corresponding to the quadrotor aircraft and the PC terminal according to the content of the communication protocol.

[0021] Step 3. Write the attitude controller of the quadrotor aircraft. The attitude controller adopts P-D control algorithm. The structure of the control algorithm is as image 3 shown.

[0022] Also used as image 3 The P-D control structur...

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Abstract

The invention discloses an external vision-based four-rotor unmanned aerial vehicle fully-autonomous flight control system, which comprises a four-rotor aerial vehicle hardware platform, an autonomous flight control system and a flight data processing system, wherein the four-rotor aerial vehicle hardware platform comprises a micro four-rotor aerial vehicle equipped with XBee wireless communication modules and embedded in an embedded ARM microcontroller, an external VICON vision positioning system and a ground station PC; and the ground station PC operates main control algorithm and sends a control instruction to the four-rotor aerial vehicle for executing real-time control. Accurate and quick autonomous flight of the four-rotor unmanned aerial vehicle in an indoor environment can be realized, each module of the system is coupled independently, and each module can be further developed independently later.

Description

technical field [0001] The invention relates to the technical field of quadrotor aircraft, in particular to a fully autonomous flight control system for quadrotor unmanned aircraft based on external vision. Background technique [0002] In recent years, thanks to the achievements in the fields of microelectronics, sensors, and communications, UAVs have developed rapidly and received extensive attention. The full name of "UAV" is "unmanned aircraft", which is an unmanned aircraft controlled by radio remote control equipment and its own program control device. There is no driver on board, but equipment such as an autopilot and a program control device are installed. The personnel on the ground, on the ship, or at the remote control station of the parent aircraft track, locate, remotely control, telemeter and digitally transmit it through radar and other equipment. In recent years, the number of drones in the world has grown rapidly: 25,000 in 1990, more than 40,000 in 2000, ...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
Inventor 谷国迎董伟朱向阳丁汉
Owner SHANGHAI JIAO TONG UNIV
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