传感技术学报2019，Vol.32Issue(1)：1-7,7.DOI:10.3969/j.issn.1004-1699.2019.01.001
基于卡尔曼滤波的四轴飞行器成像、惯性和高度组合导航
Imaging, Inertial and Altitude Integrated Navigation for Quadrotor Based on Calman Filter
摘要
Abstract
In order to improve the navigation accuracy of quadrotor in unstructured, indoor and GPS failure environments, this paper proposes an imaging, inertial and altitude integrated navigation for quadrotor. Firstly, the camera mounted on the quadrotor is calibrated, and the internal and external parameters of the camera are obtained. Secondly, we use the landing signs as standard reference objects and present a landing signs recognition scheme. Then, the Calman filter is used to fuse the data of the vision, inertial measurement system and ultrasonic range finder.And the relative height of the aircraft is estimated by the similar triangle theorem. The visual odometry is used to estimate the position and translation speed of the quadrotor. Finally, the effectiveness of the integrated navigation is verified. The experiment of the relative height estimation experiment, the translation speed and the relative position estimation are carried out successively with the imaging, inertial and altitude integrated navigation experimental platform. The experimental results show that combination navigation can accurately estimate the altitude of quadrotor in the relative height estimation experiment; In the translation velocity estimation experiment, the curve of velocity estimation by the Calman filter is smooth; In the relative position estimation experiment, the position of the X direction of the quadrotor is kept near the origin, the Y direction is kept near-1.0 m, and the maximum error of the altitude is within 0.3 m.关键词
四轴飞行器/组合导航/视觉识别/卡尔曼滤波Key words
quadrotor/integrated navigation/visual recognition/kalman filtering分类
信息技术与安全科学引用本文复制引用
邹强,付超,莫申童..基于卡尔曼滤波的四轴飞行器成像、惯性和高度组合导航[J].传感技术学报,2019,32(1):1-7,7.基金项目
国家科技支撑计划项目(30249) （30249）
青岛科技支撑专项项目(17-3-3-90-nsh) （17-3-3-90-nsh）
住建部科学技术计划项目(2017-K8-028) （2017-K8-028）
天津建设系统软课题研究项目(2018E6-0009) （2018E6-0009）
