A multi-image-based quadrotor aircraft stabilization system and method

Abstract

The invention discloses a four-rotor aircraft stability augmentation system and a four-rotor aircraft stability augmentation method based on multiple images. Three controllable cameras are mounted on the aircraft and are distributed on three coordinate axes of the aircraft, so that multi-direction image acquiring is realized; multiple images which are taken, at certain moment, by all cameras are taken as a reference image, a frame image, which is obtained within each shooting period after three selected areas are selected on fixed coordinate positions in each image by virtue of image processing, is compared with a target specified in the reference image; and coordinate positions of the target in each frame are compared and analyzed to obtain posture changes and position changes of the aircraft, so that stability augmentation of the aircraft is realized by virtue of gesture feedback and position feedback. According to the four-rotor aircraft stability augmentation system and the four-rotor aircraft stability augmentation method based on multiple images, keeping of a permanent position, in farmland regional operation, of the aircraft can be realized, and spraying precision and reliability of pesticides are improved.

Description

technical field [0001] The invention relates to the technical application of position stabilization of aircraft and unmanned aerial vehicles when operating in small areas of farmland, and in particular to a multi-image-based quadrotor aircraft stabilization system and method. Background technique [0002] With the development of modern agriculture, aircraft and unmanned aerial vehicles are more and more widely used in monitoring farmland diseases and insect pests, crop growth and farmland water conservancy conditions. On the basis of collecting farmland information, accurate fertilization and spraying pesticides can be achieved, reducing costs, Increased reliability. To achieve these requirements, the aircraft needs to maintain a stable altitude and attitude during the operation. At present, the stability augmentation system plays an increasingly important role in the control system of small aircraft. In addition to the stability-augmentation algorithm, the stability-augme...

AI Technical Summary

Problems solved by technology

However, for the digital stability augmentation system, its circuit construction is sometimes too complicated, and the sensor signal is easily disturbed by the outside world, and the algorithm is relatively complicated. When there are too many processing levels, it is easy to cause large signal errors.

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