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Four-rotor autonomous navigation method based on visual inertial navigation fusion

An autonomous navigation, quadrotor technology, applied in the quadrotor field, can solve the complex dynamics of the flight system, unable to meet the needs of rapid navigation of UAVs and other problems

Active Publication Date: 2020-11-03
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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AI Technical Summary

Problems solved by technology

[0003] With the diversification of UAV application scenarios, the path planning scheme of ordinary robots can no longer meet the needs of rapid navigation of UAVs in three-dimensional unknown environments. For small UAV platforms integrating positioning, perception and planning, motion planning needs to be considered The following three key issues: first, the complex motion and dynamics of the flight system, planning is faced with conditions such as fast flight and dynamic constraints; second, under the limited computing power of the platform, the required online real-time planning capabilities ; Third, the safety feasibility and complete optimality of planning results

Method used

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  • Four-rotor autonomous navigation method based on visual inertial navigation fusion
  • Four-rotor autonomous navigation method based on visual inertial navigation fusion
  • Four-rotor autonomous navigation method based on visual inertial navigation fusion

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Embodiment

[0084] For the convenience of description, the relevant technical terms appearing in the specific implementation are explained first:

[0085] GFTT: An Improved Harris Corner Extraction Method;

[0086] KLT: an optical flow method for feature tracking;

[0087] SFM: a vision-based approach to motion recovery;

[0088] Odometry: estimate camera motion between adjacent images;

[0089] Point cloud: a map represented by a set of discrete points;

[0090] TSDF: Truncated signed distance function, TSDF construction represents a surface mapping method;

[0091] Octree map: a form of map for navigation;

[0092] MarchingCubes: A Mapping Visualization Algorithm.

[0093] Rviz: 3D visualization and debugging tool provided by ROS robot system;

[0094] Mavros: Complete the communication mechanism between flight control module messages and ROS messages;

[0095] figure 1 It is a flow chart of a four-rotor autonomous navigation method based on visual inertial navigation fusion in ...

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Abstract

The invention discloses a four-rotor autonomous navigation method based on visual inertial navigation fusion, which comprises the following steps of: achieving a high-precision positioning function onfour rotors by using a positioning mode of visual inertial navigation fusion and combining camera image information and four-rotor pose information, and issuing a navigation task instruction throughan upper computer of a ground station system; completing environment three-dimensional reconstruction and autonomous navigation detection search tasks; in the whole navigation process, external equipment and manual control are not needed, the system has good autonomy, and in addition, the platform has the characteristics of low cost, high precision, strong expansibility and the like.

Description

technical field [0001] The invention belongs to the technical field of quadrotors, and more specifically, relates to a quadrotor autonomous navigation method based on visual inertial navigation fusion. Background technique [0002] With the development of artificial intelligence technology, artificial intelligence is facing a major historical opportunity for development, and the establishment of a new generation of artificial intelligence key common technology system. In the intelligent technology of autonomous unmanned systems, breakthroughs will be made in common technologies such as computing architecture of autonomous unmanned systems, perception and understanding of complex dynamic scenes, real-time precise positioning, adaptive intelligent navigation for complex environments, autonomous control of drones, and vehicles, ships, etc. Smart technologies such as automatic driving for rail transit and core technologies such as service robots and special robots support the ap...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12
CPCG05D1/12Y02T10/40
Inventor 李瑞史莹晶吴士成李浩然
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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