Indoor unmanned aerial vehicle navigation method and unmanned aerial vehicle

Abstract

The invention provides an indoor unmanned aerial vehicle navigation method and an unmanned aerial vehicle. The navigation method comprises the following steps: adopting a three-axis gyroscope to measure the angular velocity of an unmanned aerial vehicle, and adopting a plurality of sets of ultrasonic ranging sensors to measure ultrasonic signals, and temperature sensors to measure indoor temperature data; performing temperature compensation on the measured ultrasonic signals according to the indoor temperature data; respectively calculating the distances between the unmanned aerial vehicle and the indoor four walls, the ceiling and the floor by use of the ultrasonic signals subjected to temperature compensation, and reversely locating the unmanned aerial vehicle according to the distances between the unmanned aerial vehicle and the indoor four walls, the ceiling and the floor; calculating the attitude angle of the unmanned aerial vehicle according to the angular velocity of the unmanned aerial vehicle. According to the navigation method, fewer sensors are adopted to acquire indoor and unmanned aerial vehicle correlation data, so that the manufacturing cost is relatively low, and the indoor unmanned aerial vehicle navigation method and the unmanned aerial vehicle are suitable for popularization.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an indoor unmanned aerial vehicle navigation method and an unmanned aerial vehicle. Background technique [0002] There is no micro-drones for indoor positioning that can work independently in the existing unmanned aerial vehicles. Moreover, the current navigation methods used by UAVs are relatively traditional, relying on many types of sensors, resulting in complex structures and fusion algorithms for UAVs. Contents of the invention [0003] The aim of the present invention is to solve at least one of said technical drawbacks. [0004] For this reason, the purpose of the present invention is to propose an indoor UAV navigation method and UAV, which uses fewer sensors to achieve indoor and UAV-related data collection, and the production cost is low, which is suitable for popularization and use. [0005] In order to achieve the above object, an embodiment of t...

AI Technical Summary

Problems solved by technology

[0002] There are no independent micro-drones for indoor positioning in existing drones

Moreover, the current navigation methods used by UAVs are relatively traditional and rely on many types of sensors, which leads to the complexity of the structure and fusion algorithms of UAVs.

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