Homography-base 6D Flying Platform Visual Control

UAVs(Unmanned Aerial Vehicles)have the advantages of small terrain limit,wide view,hardly obstructed by obstructions,and enormous image information.However,UAVs also have the disadvantages of flight operation difficulty and stability insufficiency.The autonomous flight control of UAV is always a difficult problem.Base on the reality of long-time monitoring,this paper researched homography-base 6D flying platform visual control.A stable UAV flight platform with two embedded computing devices,Raspberry and Jetson TK1,is designed and built.And a software control system is developed to ensure UAV security,stability and efficient.A visual simulation system based on Ogre graphics engine is implemented,which provides a virtual experiment environment for UAV and saves the experimental cost.Visual simulation system can save considerable cost in the flight controller development.What's more,conducting virtual flight experiments before real experiments can significantly improve the security and efficiency in the development of flight controller.A 6-DOF relocation algorithm based on homography is implemented and conbined with UAV control algorithm to realize the 6-DOF relocation function of UAV.Amounts of experiments were carried out on the ground and in the air to ensure that algorithm is correct,verify the effect and performance of the algorithm.