文献类型：期刊文献

中文题名：四轴飞行器的视觉定位设计与实现

英文题名：Design and Implementation of Vision Localication of Quadrotor

作者：周万春[1];王志鹏[2];钱志勤[3];杨永吉[3];杨晨阳[3];刘爽[3];刘红周[3];张朝阳[1]

机构：[1]郑州工程技术学院机电与车辆工程学院,河南郑州450044;[2]中兴通讯股份有限公司上海研发中心,上海200237;[3]华东理工大学机械与动力工程学院,上海200237

年份：2019

卷号：47

期号：5

起止页码：65

中文期刊名：机床与液压

外文期刊名：Machine Tool & Hydraulics

收录：CSTPCD;;北大核心:【北大核心2017】；

基金：国家自然科学青年基金项目(51405236)

语种：中文

中文关键词：四轴飞行器;视觉定位;自主降落;互补滤波;PID;控制

外文关键词：Quadrotor;Visual positioning;Autonomous landing;Complementary filter;PID control

摘要：四轴飞行器搬运物体时,位置定位起到了关键性作用。为了实现四轴飞行器的自主定位飞行,设计了一款基于视觉定位的四轴飞行控制系统。该四轴飞行器选用K60作为控制器,采用陀螺仪、加速度计和电子罗盘构建航姿测量模块,利用摄像头定位和超声波测距构建定位模块,提高导航精度。飞行器将采集到的数据结合互补滤波进行姿态解算,经过经典PID控制,实现稳定飞行、视觉定位并自主降落的功能。测试实验结果表明:在10～200 cm的降落高度范围内,飞行器的定位精度达到1.3 mm,高度精度达到0.34 mm,同时整个系统具有较好的快速性和稳定性。因此该四轴飞行器能够实现自主定位飞行,并为无人机定位方式的研究提供了一定的参考。
Location plays a key role when quadrotor moves objects. A control system of quadrotor based on vision localization to make quadrotor flight by its own location was designed. K60 was chosen as the controller of the quadrotor, and the gyroscope, accelerometer and magnetometer were adopted as the module of attitude and heading, and the camera positioning and ultrasonic ranging were used as the module of positioning. Then, data were collected to achieve attitude solution by the quadrotor, combining with a complementary filter. After that, through classic PID control, this quadrotor could achieve the function of stabilized flight, vision localization and autonomous landing. The test results show that in the height range of 10 ~ 200 cm, the location accuracy of aircraft reaches 1.3 mm, the height accuracy reaches 0.34 mm. What' s more, the whole system has a better speed and stability. So this design can achieve the desired function and provide some reference for the research of the way of quadrotor' s location.