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Fully autonomous flight control system for quadrotor unmanned aerial vehicles based on external vision

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

Active Publication Date: 2018-08-03
SHANGHAI JIAOTONG 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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  • Fully autonomous flight control system for quadrotor unmanned aerial vehicles based on external vision
  • Fully autonomous flight control system for quadrotor unmanned aerial vehicles based on external vision
  • Fully autonomous flight control system for quadrotor unmanned aerial vehicles based on external vision

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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 a fully autonomous flight control system for a quadrotor unmanned aerial vehicle based on external vision. The system consists of a quadrotor aircraft hardware platform, an autonomous flight control system and a flight data processing system. The quadrotor aircraft hardware platform includes equipment equipped with The XBee wireless communication module is inserted into the micro quadrotor with embedded ARM microcontroller, the external VICON visual positioning system and the ground station PC. The ground station PC runs the main control algorithm and sends the control commands to the quadrotor. for real-time control. The invention can realize the accurate and fast autonomous flight of the quadrotor unmanned aerial vehicle in the indoor environment. Each module of the system is independently decoupled, which is convenient for further independent development of each module in the future.

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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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
Inventor 谷国迎董伟朱向阳丁汉
Owner SHANGHAI JIAOTONG UNIV
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