Laser radar-based mini-sized unmanned plane control method and system

Abstract

The invention discloses a laser radar-based mini-sized unmanned plane control method comprising the following steps: real time laser range finding information is collected; according to the laser range finding information, an unmanned plane position and pose solution is sought, synchronous positioning and map building are conducted, and dynamic air route planning is conducted; after electric motor driving signals are generated, the flight of an unmanned plane can be controlled. A laser radar-based mini-sized unmanned plane control system is disclosed and comprises an unmanned plane flight control module, a laser range finding radar module and an electric motor. Low altitude complex environment unmanned plane autonomous navigation key technologies are applied to the field of equipment for civil use, and the reliability of low altitude complex environment navigation is improved while hardware cost is lowered. The laser radar-based mini-sized unmanned plane control method and system are widely applied to the technical field of unmanned planes.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a laser radar-based control method and system for micro unmanned aerial vehicles. Background technique [0002] IMU: Inertialmeasurementunit, inertial measurement unit. [0003] In recent years, with the widespread promotion of drone products, the navigation technology of drones has made great progress. With the progress of electronics and remote communication, long-distance wireless navigation systems have been realized, such as phased array radar and GPS and other technologies, but most of the navigation technologies are only suitable for outdoor open spaces, and cannot be applied to low-altitude complex environments, especially indoor navigation in unknown environments. Although there are similar navigation technologies in indoor or low-altitude complex environments in the industry, such as landmark recognition and navigation technology based on visual inform...

AI Technical Summary

Problems solved by technology

[0003] In recent years, with the widespread promotion of drone products, the navigation technology of drones has made great progress. With the progress of electronics and remote communication, long-distance wireless navigation systems have been realized, such as phased array radar and GPS and other technologies, but most of the navigation technologies are only suitable for outdoor open spaces, and cannot be applied to low-altitude complex environments, especially indoor navigation in unknown environments

Although there are similar navigation technologies in indoor or low-altitude complex environments in the industry, such as landmark recognition and navigation technology based on visual information, its applicable environment is limited, it has high requirements for ambient light, and the visual algorithm is complex and hardware consumption Large, real-time and accuracy have high requirements for software and hardware; navigation technology based on sonar sensors, due to large measurement errors, the amount of environmental information obtained is small, and cannot be applied in complex indoor environments. When multiple sonar sensor arrays are used to obtain more environmental information, due to the fan-shaped area emitted by the sonar sensor at a scattering angle, crosstalk may occur when the indoor environment is crowded, resulting in inaccurate distance measurement information; based on optical flow Although the attitude estimation and motion recovery algorithms of the sensor can be better applied to autonomous navigation in unfamiliar environments, the speed of visual information resolution and the reliability of optical flow still need to be improved.

Therefore, autonomous navigation in low-altitude complex environments has always been a bottleneck for the wide-scale application of micro-UAVs

[0004] At present, the existing low-altitude and complex environment navigation technology in the industry has high environmental requirements, low anti-interference ability and reliability, and complex algorithms, huge hardware consumption, real-time performance and accuracy have high requirements for software and hardware.

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