1240 results about "Unmanned spacecraft" patented technology

A method for policing and managing the operation of a flying, unmanned aircraft in the event of usurpation of control of, malfunction of, or ill-intentioned use of, this aircraft includes the steps of (a) detecting inappropriate operation of the aircraft; (b) transmitting a takeover command to the aircraft to interrupt control of the operation of this aircraft by a first pilot and relinquish control of the aircraft to a second pilot; and (c) transmitting control commands to the aircraft to control its operation by the second pilot, until the need for alternate pilot control of the aircraft has ended or until the aircraft has landed safely.

A combined submersible vessel and unmanned aerial vehicle preferably includes a body structure, at least one wing structure coupled to the body structure, at least one vertical stabilizer structure coupled to the body structure, and at least one horizontal stabilizer structure coupled to the body structure. A propulsion system is coupled to the body structure and is configured to propel the flying submarine in both airborne flight and underwater operation. Preferably, the propulsion system includes a motor, a gearbox coupled to the motor and configured to receive power generated by the motor and provide variable output power, a drive shaft coupled to the gearbox and configured to transfer the variable output power provided by the gearbox, and a propeller coupled to the drive shaft and configured to accept power transferred to it from the drive shaft. The propeller is further configured to rotate and propel the flying submarine in both an airborne environment and in an underwater environment.

The invention discloses an avionics system suitable for a multi-purpose unmanned aircraft. A 1553B dual-redundancy bus framework is adopted in the avionics system. The avionics system consists of a main processor unit, a universal interface unit, a 1553B bus, a mass memory, an airborne monitoring terminal, a task load, an execution mechanism and a sensor assembly. The devices have the connection relationships that: the main processor unit, the universal interface unit, the mass memory, the airborne monitoring terminal and the task load are connected with the 1553B bus through a 1553B special electric connector, and the 1553B special electric connector serving as a bus module connects all the devices attached to the bus together; a steering engine controller is connected with the universalinterface unit through an RS422 interface; and the sensor assembly is connected to the universal interface unit through interfaces of serial RS422 / RS232 / RS485, an ARINC429 bus, a CAN, analogue AD / DA and discrete DIO and the like. The avionics system has the characteristics of strong multi-task expandability, multi-redundancy high reliability, rich data interfaces and strong calculation and processing capabilities, and can well meet the application requirement of 'one platform and multiple purposes' of the unmanned aircraft.

The invention relates to a method for autonomous flight of a four-rotor unmanned aircraft by using an auto-disturbance-rejection control technique, belonging to the automatic control field of unmanned aircraft. The method comprises the steps of: respectively making differences between an output xld after arranging a transient process of a target value and an output of an extended state observer, and differential of the output xld and the output of the extended state observer respectively, and then carrying out nonlinear conversion on two differences to obtain a nonlinear feedback control law u0; with regard to an auto-disturbance-rejection controller with three attitude angles and vertical displacement, making difference with feedback of the extended state observer to obtain an output as an input of a corresponding channel of a four-rotor system and the extended state observer; and with regard to an auto-disturbance-rejection controller with forward and side displacements, directly using u0 as the input of the corresponding channel of the four-rotor system and the extended state observer, and feeding back the actual value to the extended state observer after the corresponding channel of the four-rotor system responses, so as to form an close-loop auto-disturbance-rejection controller. The method is strong in capacity of resisting disturbance, and the problems of difficulty in modeling of the four-rotor system, environmental diversity in the flight process, and frequent interferences are effectively solved.

The invention discloses an unmanned perception based unmanned aerial vehicle route planning method for rapidly planning the vehicle driving route. According to the invention, based on the unmanned flight perception system, road video images around a target vehicle are photographed by utilizing an unmanned flight to be sent to a ground station; the ground station receives the video images and processes the video images so as to obtain the vehicle and road messages, route planning is carried out according to the vehicle position, and the route is transmitted to the unmanned aerial vehicle; and a computer module of the ground station calculates a flight control signal to control the unmanned aerial vehicle to follow the vehicle to proceed, and corrects the route in real time. According to the invention, based on an unmanned flight platform, the operation state is stable; and the road environment around the vehicle is photographed from a great height, the coverage area is wide, and the observed road traffic information is distinct and clear, so that the road distribution condition and the traffic condition around the target vehicle can be obtained rapidly, the reasonable route planning can be obtained, the route is more precise, and the road condition analysis is more timely and accurate.

A miniature, unmanned aircraft having interchangeable data handling modules, such as sensors for obtaining digital aerial imagery and other data, and radio transmitters and receivers for relaying data. The aircraft has a microprocessor for managing flight, remote control guidance system, and electrical supply system. The data handling modules have an aerodynamic housing and manual fasteners enabling ready installation and removal. One or more data acquiring sensors or data transferring apparatus and support equipment such as batteries and communications and power cables are contained within the module. A plurality of different modules are preferably provided. Each module, when attached in a preferred location below the wing, does not significantly alter the center of gravity of the airframe. Preferably, each module contains the supervisory microprocessor so that the microprocessor need not be part of the airframe.

The invention discloses a nonlinear output feedback flight control method for a quad-rotor unmanned aerial vehicle. The nonlinear output feedback flight control method for the quad-rotor unmanned aerial vehicle comprises the following steps of: (1) determining a kinematic model of the quad-rotor unmanned aerial vehicle under an inertial coordinate system and a kinematic model of the quad-rotor unmanned aerial vehicle under a body coordinate system; (2) designing an attitude control system of the quad-rotor unmanned aerial vehicle; defining tracking errors of the attitude angle and the angular speed of the quad-rotor unmanned aerial vehicle; designing a filter to perform online estimation on an angular speed signal and obtain an open loop dynamic equation of the tracking errors; and estimating unknown functions in the open loop dynamic equation by adopting neural network feedforward, and designing attitude system control output of the quad-rotor unmanned aerial vehicle; and (3) designing a height control subsystem of the quad-rotor unmanned aerial vehicle; defining height tracking errors and defining auxiliary filtering tracking errors; and designing a height subsystem controller. According to the nonlinear output feedback flight control method for the quad-rotor unmanned aerial vehicle disclosed by the invention, the polarity problem is effectively avoided, a wide-range stable control effect is achieved, the robust performance of the system is greatly improved, and the dependence of a flight controller on an airborne sensor is greatly reduced.

A miniature, unmanned aircraft for acquiring and / or transmitting data, capable of automatically maintaining desired airframe stability while operating by remote directional commands. The aircraft comprises a fuselage and a wing, a piston engine and propeller, a fuel supply, at least one data sensor and / or radio transceiver, a microprocessor disposed to manage flight, a radio transceiver for receiving remotely generated flight direction commands, a GPS receiver, a plurality of control surfaces and associated servomechanisms, for controlling flight stabilization and direction, roll, pitch, yaw, velocity, and altitude sensors. The microprocessor uses roll, pitch, yaw, and altitude data to control attitude and altitude of the aircraft automatically, but controls flight direction solely based on external commands. The aircraft does not exceed fifty-five pounds.

The invention relates to the field of unmanned aerial vehicles, in particular to a full-automatic unmanned aerial vehicle control system. The system, which is characterized in that: a ground control system comprises a main control system mainly comprising a central controller, a main control computer, the internet network and a central antenna, a user computer as a human-computer interactive interface, and a GPS navigation system; a vehicle-mounted flight control system of the unmanned aerial vehicle is provided with an aerial vehicle controller, a networking antenna, a GPS antenna, a DSP, a navigation camera, and a sensor; and the main control system of the ground control system gets the remote internet control authority, the main control computer inputs a signal to the central controller, the signal is processed by the central controller, and then the remote wireless communication and control of the vehicle-mounted flight control system are achieved through the antennas. Compared with the prior art, the system has the advantages of having high automation degree, realizing various flight missions of the unmanned aerial vehicle, and being applied to low altitude remote sensing, aerial photography, monitoring, photography measurement, videography, communication data retransmission and the like.

The invention discloses a transmission line inspection system based on a multi-rotor unmanned aircraft, which comprises the multi-rotor unmanned aircraft and a ground support system, wherein the multi-rotor unmanned aircraft comprises an aircraft body, an airborne flight control system, an airborne task system and an airborne power supply for supplying power to all the electronic devices; the aircraft body comprises a body, an undercarriage fixedly connected below the body, and a plurality of rotor components which are symmetrically distributed on the periphery of the body; the airborne flight control system comprises a flight navigation and control part, a transmission line anti-collision warning and control part, and an airborne end used for remotely controlling a telemetry data chain; the airborne task system comprises a damping nacelle, an image acquiring device arranged on the damping nacelle, and the airborne end for a wireless image transmission chain; and the ground support system comprises a ground end for remotely controlling the telemetry data chain, a flight monitoring system, the ground end for a wireless image transmission chain, and an image monitoring system. The transmission line inspection system has a reasonable structure, is easily realized, and has high engineering application value.

The invention provides a vision-based self-aid landing navigation system for an unattended air plane, which comprises a software arithmetic and a hardware arrangement. The software arithmetic comprises a computer vision arithmetic and an information merging and state estimation arithmetic; the hardware arrangement comprises a runway feature, on-board sensor subsystem and an information merging subsystem. The on-board sensor subsystem comprises an on-board camera system, an on-board inertial navigation system, a height meter system and a magnetic compass, measures the real UAV state, traces and analyzes the runway features by the on-board camera system, gets the measurements of the runway feature points, and sends the measurements to the information merging subsystem. The information merging subsystem gets the estimated value of the runway feature points through the runway model and the camera system model based on the estimated value of the airplane state at previous period as well as the measurement on the airplane state at current period by the on-board sensor subsystem, and compares with the measurements, merges other measurement information, and gets navigation information of high accuracy through calculation by the data processing module.

The invention relates to an image stabilizing method of an airborne tripod head moving target autonomous tracking system based on human eye-like complex movement, which comprises an unmanned aircraft, and a flying control system, an airborne tripod head video camera, an airborne image processing unit and an airborne bionic control microprocessor. The method comprises the following steps that: a posture sensor measures the posture location of the small unmanned aircraft, a visual sensor acquires the target information of the video camera, after corresponding analog / digital (A / D) conversion and digital filtration, the information of posture location and the information of the video camera are operated and processed according to the input relation of established eyeball composite movement, the relevant deviation between a tracked target and the optical axis of the video camera is obtained, corresponding scale conversion is carried out, the processed information serves as a control law of an airborne tripod head controller to respectively control an airborne tripod head motor and realize the characteristics of the eyeball composite movement. The method can regulate an airborne tripod head in real time through the steps according to the position information of the tracked moving target and the posture information of the unmanned aircraft, so that the unmanned aircraft can autonomously track a suspicious moving target in an uneven environment and play a certain role in stabilizing a tracked image.

The invention relates to a miniature electric ducted propeller type intelligent unmanned aerial vehicle, which consists of a ducted casing, a bracket, a coaxial counter propeller, a fairing, a battery, a motor, a driving control circuit and a microcontroller. The machine body has a dish-shaped appearance; and the ducted casing is arranged outside a rotor wing to eliminate flight safety threat caused by the traditional structure of the exposed rotor wing and improve the working efficiency of the propeller. The aerial vehicle adopts a design of the coaxial counter double-rotor wing, cancels the inertial rotation of the machine body without a tail rotor wing, saves materials and expands the operating space. The propeller is driven by the motor; the motor is under the servo control of the driving control circuit; and the horizontal motion of the aerial vehicle in the air is implemented by a deflectable guide plate below the propeller in a matching mode. In addition, a multi-azimuth convenient slot is formed inside the ducted casing of the aerial vehicle for mounting and detaching various sensors at any time; and the microcontroller comprehensively processes information fed back by each sensor and performs autonomous flight control according to a task.

The invention provides a flight control method and a device for an unmanned aerial vehicle, and belongs to the field of aerial vehicles. The method comprises steps of obtaining the current position of the unmanned aerial vehicle; obtaining division information of control regions, wherein each of the control regions corresponds to a control parameter; determining the flight restriction parameter of the current position according to the control parameter of the control area where the current position is if the unmanned aerial vehicle is in the divided control region; and performing flight control for the unmanned aerial vehicle according to the flight restriction parameter of the current position. According to the invention, flight states of the unmanned aerial vehicle can be controlled according to flight restriction rules of the control regions, thereby satisfying different flight restriction requirements of the control regions.

The invention relates to a method for cooperative search and dynamic task allocation of unmanned aerial vehicle teams under an uncertain environment, and not only puts forward a cooperative dynamic task allocation strategy of unmanned aerial vehicle teams, but also designs a concrete guidance law. By adopting an arc air route as the air route by which unmanned aerial vehicles performing tasks, the method includes: step 1. determining the data structure of single unmanned aerial vehicle maintenance; step 2. determining the flight mode of unmanned aerial vehicles; step 3. determining the dominant function of task performing of the unmanned aerial vehicles; step 4. determining a dynamic task allocation process; and step 5. determining the guidance law of aerial vehicle search and task performing. Compared with modern optimization algorithm based task allocation methods, the method provided in the invention reduces the computation load of single unmanned aerial vehicle, and is suitable for conditions characterized by strong real-time performance and uncertain environment. Compared with market mechanism auction algorithm based task allocation methods, the method reduces the times of communication performed among unmanned aerial vehicles and the computation load of single unmanned aerial vehicle, and guarantees the real-time performance of broadcast unmanned aerial vehicles during task performing.

The invention discloses an unmanned aerial vehicle cruising capacity monitoring system and method, and belongs to the field of unmanned aerial vehicles. The system comprises an unmanned aerial vehicle and a flight control station, a signal processing module and a data communication module. The unmanned aerial vehicle further comprises a signal input module, a flight control panel and a battery. The signal input module acquires energy consumption information of the unmanned aerial vehicle. The flight control panel acquires battery information and controls flight of the unmanned aerial vehicle. The signal processing module is suitable for calculating cruising capacity of the unmanned aerial vehicle according to the energy consumption information and the battery information. Energy consumption of the unmanned aerial vehicle is analyzed to accurately estimate cruising capacity of the unmanned aerial vehicle, and cruising capacity of the unmanned aerial vehicle is marked by cruising time and / or cruising distance. Meanwhile, influence of environment temperature on battery energy efficiency is also considered so that accuracy of prediction of cruising capacity of the unmanned aerial vehicle is further enhanced.

The invention discloses an unmanned aircraft electric quantity early warning method and a device; the method comprises the following steps: using a satellite positioner to obtain inward journey drop point information of the unmanned aircraft; obtaining present position information of the unmanned aircraft, and calculating a horizontal distance and a vertical height difference between the present position of the unmanned aircraft and the inward journey drop point; obtaining battery state information of the unmanned aircraft, and calculating a maximum horizontal distance and a maximum climb or descending height of the unmanned aircraft using residual electric quantity at a preset flight speed; determining whether the electric quantity of the unmanned aircraft has reached a lowest critical point of safety inward journey or not according to the horizontal distance and the vertical height difference between the present position of the unmanned aircraft and the inward journey drop point, and the maximum horizontal distance and the maximum climb or descending height of the unmanned aircraft using residual electric quantity at the preset flight speed; if yes, controlling the unmanned aircraft to fly back. The unmanned aircraft electric quantity early warning method and the device can maximize a task flight time while ensuring the safety of the unmanned aircraft, thus maximizing the utilization efficiency of the aircraft.

The invention discloses a petrol-electric hybrid four-rotor unmanned aerial vehicle, comprising a machine body and a machine frame which is connected onto the machine body, wherein the machine frame is a cross frame which is formed by four same machine arms which are butted in a two-by-two manner; a group of electric power units are arranged at the end part of each machine arm; the machine body comprises an upper center plate, a lower center plate, a control system, and a power generation unit; the upper center plate is fixed above the center of the cross frame; the lower center plate is fixed below the center of the cross frame; the control system is arranged above the upper center plate, electrically connected with the electric power units and used for controlling and driving the electric power units; the power generation unit is fixed below the lower center plate, electrically connected with the control system and used for supplying power to the control system. By adopting the petrol-electric hybrid four-rotor unmanned aerial vehicle, a risk caused by stalling of an engine in flight of the traditional fuel power single-rotor helicopter is avoided; the landing of a multi-rotor aircraft still can be safely controlled by using stored electric energy after a fuel engine is shut down, so that the fuel economy of the entire aircraft can be realized to the highest degree; meanwhile, the emission of pollutants is reduced.

The invention discloses a system and a method for automatically generating panorama photographs through aerial photography by an unmanned aerial aircraft, belonging to the image information technology field. The system comprises an unmanned aircraft, an image collection device, a communication device, a control device and a panorama photograph obtaining device. The control device presets a photographing mode according to the performance parameters, photographing requirement and photographing environment of the image collection device; the unmanned aircraft executes flying and aerial photography task; the image collection device performs image collection to obtain preset quantity of sample photos having partial overlapping areas; the panorama photo obtaining device chooses a corresponding image processing method to automatically process the sample photograph according to the preset photographing mode, and outputs the panorama photos. The invention adopts the unmanned aircraft to perform the aerial photographing, integrates the functions of automatic generation and sharing of the panorama photos, and provides convenience to usage and sharing by the user.

The invention discloses a DSP (Digital Signal Processor)-based quad-rotor unmanned aerial vehicle autonomous hover control system and method. The control system is provided with four screw propellers and control units which are arranged on four airfoils respectively; and each control unit is that a master control unit is connected to a ground computer through a wireless network, and a receiver is connected with a signal conversion module and a manual / automatic switching chip in sequence, transmits a received signal transmitted by a remote controller into the manual / automatic switching chip through the signal conversion module, is also connected with the manual / automatic switching chip through the master control unit and is used for transmitting the received signal to the manual / automatic switching chip through the master control unit for controlling driving units to drive direct current brushless motors on the four screw propellers to work. According to the method, kalman filtering processing is performed on sonar data to obtain accurate height data and driver control. According to the system and the method, the autonomous flight capacity of a micro quad-rotor unmanned aerial vehicle and the adaptability to the environment can be effectively enhanced, and the autonomous flight control under indoor environments and outdoor environments can be finished.

The invention discloses a performance test platform and method for a multi-rotor unmanned aerial vehicle. The test platform comprises a base, a stand column, a top frame, a performance test instrument and a calculation processing center; the bottom of the stand column is connected to the base through a ball-head universal bearing, and the top of the stand column is connected to the top frame through a ball-head universal bearing; the top frame is hung on an external rigid body through an elastic inhaul cable; a rack of the multi-rotor unmanned aerial vehicle is provided with a sleeving ring arranged on the stand column in a sleeving mode; the performance test instrument comprises an on-vehicle test instrument body which is arranged on the multi-rotor unmanned aerial vehicle and used for testing flight attitude information and work condition information of the multi-rotor unmanned aerial vehicle and a ground test instrument body which is arranged on the test platform and used for testing external response information of the multi-rotor unmanned aerial vehicle; the calculation processing center comprises a data collecting unit and a data analyzing unit. The test platform is simple in structure, good in flexibility and capable of accurately testing multiple performance indexes of the aerial vehicle.

An unmanned aerial vehicle (UAV) is provided, that is cost effective to use and manufacture and that includes a low count of component parts, allowing mission planners to use the UAVs in a disposable manner. The UAV includes an airframe having a central body and wings extending from the central body, defining an interior cavity. The airframe includes an upper and a lower shell, each configured of a unitary piece of plastic. The upper and lower shells have walls among them that define a fuel tank and a payload bay in a stacked configuration. The airframe can further include a payload cover configured to enclose the payload bay and to contribute to the central body of the airframe. A launch assembly is also provided. In a first configuration, a launch assembly is provided, that includes a container for housing multiple UAVs and a deployment mechanism that initiates rapid ejection of the UAVs from the container. In a second configuration, a launch assembly is provided, that includes an elastic tether connecting a UAV to an accelerated mass for gentle acceleration to flight speed under a stable tow.

The invention discloses an onboard device suitable for the sowing job of an unmanned aerial vehicle and a sowing method. The onboard device comprises a scattering device arranged below the unmanned aerial vehicle, wherein the scattering device comprises a material box, a material stirring mechanism, a material discharging adjusting mechanism and a material scattering mechanism; the material stirring mechanism is arranged inside the material box; the material scattering mechanism is arranged below the material box; the material box comprises a box wall and a baseboard; a ventage is formed in the baseboard; the material discharging adjusting mechanism comprises a switch baffle arranged in the ventage and an actuating mechanism used for pushing the switch baffle to move in the ventage and adjusting the size of the leak; the material scattering mechanism comprises a side plate connected to the bottom of the material box, a wheel disc motor and a wheel disc connected with the wheel disc motor; the wheel disc is arranged on the inner side of the side plate; a scattering openings are formed in the side plate. According to the invention, the onboard device has the advantages of being small in size, low in cost, high in flexibility and convenient for controlling.

The invention discloses a multi-rotor-wing unmanned aerial vehicle mooring system, which comprises a multi-rotor-wing unmanned aerial vehicle serving as a mooring platform, a mooring line and a ground device, wherein the mooring line is connected with the multi-rotor-wing unmanned aerial vehicle and the ground device; the multi-rotor-wing unmanned aerial vehicle comprises a mooring supply unit; the mooring line comprises a power transmission cable; the ground device comprises a ground power supply device; and the mooring supply unit is connected with the ground power supply device via the power transmission cable in the mooring line. The multi-rotor-wing unmanned aerial vehicle mooring system disclosed by the invention has the characteristics of simple structure, high reliability, stability in hovering, convenience in use and low cost, the mooring mode is applied to the multi-rotor-wing unmanned aerial vehicle, and the problems of the mooring platform on the aspects of stability, erection convenience, use flexibility and use cost are solved. In addition, through the power transmission cable in the mooring line, a ground power supply can continuously supply power to the mooring platform, and the long-time hovering flight of the aerial vehicle is realized.

The invention relates to an unmanned aerial vehicle system with in-site virtual-actual coupling. The system comprises an environment detection module, a virtual flight simulation module, an unmanned aerial vehicle remote control module, an unmanned aerial vehicle ground station module and an unmanned aerial vehicle flight module, wherein the environment detection module is used for detecting varied environmental parameters of the actual flight environment of the site; the virtual flight simulation module is used for generating virtual training environment and a virtual unmanned aircraft; the unmanned aerial vehicle remote control module is used for generating and transmitting remote control commands for an unmanned flight unit, and the remote control commands can be received by the unmanned aerial vehicle flight module and the virtual flight simulation module; the unmanned aerial vehicle flight module is an actually-mounted unmanned aircraft; an unmanned aerial vehicle ground station is equipment which is placed on the ground, and use staff perform initialization and real-time information treatment on the actually-mounted unmanned aircraft or the virtual unmanned aerial vehicle aircraft through the unmanned aerial vehicle ground station, so that the initial route of the actually-mounted unmanned aircraft or the virtual unmanned aerial vehicle aircraft is programmed, and the position, the attitude parameter and the obtained video signal of the actually-mounted unmanned aircraft or the virtual unmanned aerial vehicle aircraft are received.

The invention discloses a multi-rotor unmanned aerial vehicle which comprises a body, wherein a central duct is arranged at the center of the body; n rotor support arms are circumferentially and uniformly distributed in a radial manner on the periphery of the central duct, and n is greater than or equal to 3; a central rotor assembly is coaxially mounted in the central duct; the central rotor assembly comprises a central rotor motor and a central rotor connected with an output shaft of the central rotor motor; the central rotor motor is fixedly mounted at the center of the body; a peripheral rotor assembly is mounted on each rotor support arm; the peripheral rotor assembly comprises a peripheral rotor motor and a peripheral rotor connected with an output shaft of the peripheral rotor motor; the peripheral rotor motor is mounted on the rotor support arm; the size of the central rotor is greater than that of the peripheral rotor; the rotation direction of the central rotor is opposite to that of the peripheral rotor. Therefore, the multi-rotor unmanned aerial vehicle disclosed by the invention has the advantages of novel pneumatic layout, stable and reliable hovering and strong load capacity and is easy to realize in engineering.

The invention discloses an inspection system and an implementation method for the electrical equipment of an unmanned aerial vehicle photovoltaic power station. The inspection system includes an airborne terminal, a ground terminal, and a wireless communication module. The camera or monitoring equipment collects the image data of the electrical equipment of the photovoltaic power station, and at the same time receives the control commands sent from the ground terminal to the airborne terminal; the ground terminal is set on the ground platform to process the data collected and sent back by the airborne terminal , to control the flight and shooting operations of the unmanned aerial vehicle on the ground; the wireless communication module completes the functions of transmitting flight control instructions, flight status data, and video return data between the airborne terminal and the ground terminal. The inspection system provides real-time high-definition viewing of infrared images and visible light images, which is convenient for timely resolution of faults. The images are analyzed on the ground side through pattern recognition. repair.

The invention discloses an autonomous navigation method and system and a map modeling method and system of an unmanned aerial vehicle. The autonomous navigation method comprises the steps of controlling the unmanned aerial vehicle to take off, and collecting videos of scenes corresponding to the unmanned aerial vehicle at all collecting time points; obtaining characteristic points in the videos of the scenes corresponding to all the collecting time points; generating a flight path of the unmanned aerial vehicle according to the characteristic points in the videos of the scenes corresponding to all the collecting time points; generating a first map model according to the flight path of the unmanned aerial vehicle and the videos of the scenes corresponding to all the collecting time points; carrying out autonomous navigation on the unmanned aerial vehicle according to the first map model. According to the autonomous navigation method, the videos of the scenes of the unmanned aerial vehicle corresponding to all the collecting time points are utilized, the autonomous navigation is carried out by analyzing and recognizing the videos, and therefore the autonomous navigation can be carried out on the unmanned aerial vehicle in an indoor scene.