Visual sensor laser radar fused unmanned aerial vehicle positioning and mapping device and method

Abstract

The invention belongs to the field of visual sensors, laser radars, embedded unmanned aerial vehicles and provides a visual sensor laser radar fused unmanned aerial vehicle positioning and mapping device and method in order to solve the problems of autonomous positioning and environment map establishment of an unmanned aerial vehicle in a GPS denial environment and achieve autonomous flight and obstacle avoidance of the unmanned aerial vehicle in an unknown environment. The invention comprises a binocular camera, a laser radar, an IMU inertial measurement unit, an embedded airborne processor and an unmanned aerial vehicle platform. The binocular camera collects visual information of the surrounding environment; the laser radar is mainly used for measuring three-dimensional position information of the surrounding environment of the unmanned aerial vehicle; the IMU inertial measurement unit is used for measuring acceleration and angular velocity information of the unmanned aerial vehicleat high frequency; the embedded airborne processor is used for algorithm operation, and operates an autonomous positioning and mapping algorithm by processing data acquired by the camera, the radar and the IMU, so as to obtain the pose of the unmanned aerial vehicle and establish an environment map. The invention is mainly applied to unmanned aerial vehicle design and manufacturing occasions.

Description

technical field [0001] The invention belongs to the field of visual sensors, lidar sensors, embedded systems, and unmanned aerial vehicles, and in particular relates to an unmanned aerial vehicle perception system based on the combination of vision and lidar, which solves the problem of GPS (Global Positioning System) rejection The problem of autonomous positioning and environment map establishment of UAV based on visual radar in the restricted environment. Background technique [0002] In recent years, UAV technology is one of the important research hotspots at home and abroad. UAVs use wireless remote control or embedded program control instead of manual tasks to complete various tasks. It requires low advantages and has been widely used in military and civilian fields. Military drones have played an important role in reconnaissance, attack, and electronic countermeasures. Civilian drones are increasingly used in aerial photography, disaster monitoring, line inspection, ...

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the deficiencies in the prior art, the present invention aims to propose and solve the problem of autonomous positioning and environment map establishment of unmanned aerial vehicles in GPS-denied environments, so as to realize autonomous flight and obstacle avoidance of unmanned aerial vehicles in unknown environments

Images