Method of autonomous flight along road for multi-rotor unmanned aerial vehicle in combination with road detection

Abstract

The invention relates to a method of autonomous flight along the road for a multi-rotor unmanned aerial vehicle in combination with road detection, which belongs to the field of unmanned aerial vehicle flight control. The method comprises the following steps of S1, acquiring video information of a road right under the unmanned aerial vehicle, S2, transmitting the acquired video information to a ground station through a 4G link, S3, performing road detection on the obtained video image through the ground station, and extracting a position and an angle of a road center line in the whole video image, S4, utilizing the extracted relationship between the unmanned aerial vehicle and the road center line l and a judgment box R, selecting a mode, in combination with GPS information returned by theunmanned aerial vehicle and a road GPS data set, inputting the information to an eight-direction PID strategy controller based on Kalman filtering, acquiring a yaw control quantity, sending a controlinstruction to the unmanned aerial vehicle through the ground station, firstly controlling the unmanned aerial vehicle to fly to the position above a road firstly, and then controlling the unmanned aerial vehicle to fly along the road autonomously. The unmanned aerial vehicle can accurately and autonomously fly along the road, and collision with the surrounding environment is avoided to a large extent.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle flight control, and relates to a method for precise positioning and fusion control of a multi-rotor unmanned aerial vehicle based on Kalman filter. Background technique [0002] At present, civilian drones are mostly controlled by radio frequency remote controllers. The control distance is short and the signal is easily blocked by obstacles. Under today's communication conditions, 4G networks have been able to spread throughout the main areas of major cities and can meet the needs of most users. , such inherent advantages not only make personal communication very convenient, but also provide excellent conditions for solving the communication distance limitation problem encountered by the long-distance communication technology of civilian drones. Therefore, the remote control of drones is realized through 4G network communication. Control has become an important direction for the development ...

AI Technical Summary

Problems solved by technology

However, it does not explain how the UAV autonomously finds the nearest road, and it does not include the GPS of the road and the GPS value of the UAV as verification standards and correction conditions. In the case of detection failure, it is difficult to guarantee its flight.

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