Research And Implementation In Positioning System Of Indoor Flight

With the development of electronic technology, computer technology, image processing technology and the artificial intelligence theory, Positioning theory and technique are applied in various fields. It had been widely used in the industrial, military, civilian and scientific fields, such as military investigation, navigation, surgery, and location in civilian fields.Indoor flight positioning system can compute real-time location, speed, attitude and other information of small unmanned helicopter. This data is feedback to the flight control system, offer flight data for indoor flight experiment..The main work of this paper is as follows:1. The model of camera imaging, the linear model, and nonlinear model were analyzed. And the method of eliminating the impact of distortion was introduced in detail.2. Zhang calibration principles were analyzed, based on Opencv, the functions of calibration have been implemented. Through the principle that two straight lines can determine a target position, the position data was calculated.3. Through three different color markers, the method of calculate the real-time attitude of unman-small helicopter was implemented .4. In the process of multi-camera work, image identification efficiency has an important significance to the system. An improved algorithm of image scanning was presented, which improved the identification efficiency, and saved computer resources.5. The multi-camera synchronization problem was analyzed. The impact of synchronization in high-speed movement was discussed, and the experimental solution for synchronization was given.6. About noise points, an approach of improving hardware environment was given in this paper. In order to solve this problem, a noise filter algorithm for reducing this impact have been designed.Indoor positioning system can give real-time location, speed, attitude, and other information of small unmanned helicopter. This data is feedback to the flight control system to support flight control algorithms. The system is one of the key technology platform of indoor flight control.