Research On Accurate Altitude Measurement And Obstacle Avoidance Strategies Of Quadcopter UAV

In recent years,due to its flexibility,low cost,and simple control,multi-rotor UAVs have become more and more widely used.They have great application and research value in aerial photography,plant protection,power inspection,target tracking,These have gradually made certain requirements for UAV navigation,obstacle avoidance,and path planning.How to make the UAV face various complex situations,make actions to automatically avoid obstacles and autonomous flight,and also maintain its own height is the key to ensuring the safe execution of UAV missions.This article has conducted in-depth research on the research theme of precision height measurement strategy and obstacle avoidance strategy for quadrotor drones:(1)This article briefly introduces the basic composition and flight principle of the UAV,and analyzes its force situation.In order to realize the various functions of the four-rotor UAV,the dynamic model of the four-rotor UAV is derived and established.At the same time,it introduced the knowledge of Pixhawk flight controller and the combination of onboard computer to realize the more complex functions of quadrotor UAV.(2)Aiming at the accurate height measurement strategy of the quadrotor UAV,this paper analyzes some problems of the two-step delay space-time algorithm,and on this basis,improves the two-step delay space-time algorithm,combined with Kalman filtering,proposes a multi-sensor information Fusion precision height measurement strategy;for the obstacle avoidance strategy of the quadrotor UAV,the advantages and problems of the VFH series of algorithms are analyzed,and on the basis of the new obstacle representation model and obstacle avoidance direction selection strategy.(3)Aiming at the accurate height measurement and obstacle avoidance strategy of the rotor drones proposed in this paper,the simulation experiments of the flight of the four-rotor drones and the corresponding algorithms are realized using the ROS and Gazebo simulation platforms.The simulation results show that the improvement proposed in this paper is two The root mean square error of the height estimation of the step delay space-time algorithm is 10.2% and 19.8% less than those before the improvement,and combined with Kalman filtering makes the fusion accuracy more accurate.The improved VFH algorithm is equipped with no Man-machine can also effectively avoid obstacles.