Research On Navigation And Positioning For Quadrotor Based On Combining Satellite With Vision

Real-time precise navigation and positioning of quadrotor is the important assurance of ensuring aerial photography,surveillance,a map creation,the autonomous flight,etc.In recent years,quadrotor's navigation and localization technology has achieved fruitful results both in theory and practical applications,but for high precision navigation and localization accuracy also need further study.With the mature development of machine vision technology,while during to the traditional inertial navigation system and global positioning system(GPS)has heavy,bulky,expensive,the cumulative great error and low accuracy of positioning,visual navigation is becoming the current research hotspots of quadrotor navigation and localization.Considering the advantages of visual navigation and satellite navigation and positioning,this paper adopts the combination of both methods in the service of vehicle navigation and positioning.In this paper,research platform for quadroto'sr navigation and positioning that based on the independent research and development laboratory is used,navigation and positioning systems is build which integrates flight controller,onboard camera,image processing controller,navigation sub-module(GPS / electronic compass)with the designing of ground stations,etc,and some related flight experiments are carried out out of doors at the same time.First of all,latest research status of quadrotor's navigation and localization on the domestic and international are introduced,pointing out the advantages and disadvantages of the prior art,and then combined with the research background,as well as the requirements of the flight environment,cross flight mode and proper navigation implementations are chosen.Secondly,quadrotor principle of work,modeling,aircraft control algorithms is described,the principle of GPS navigation and positioning and source of errors is also involved,afterwards,analysing the main reason for GPS positioning accuracy.While the definition of optical flow method and positioning the theory is varying degrees of explanation.Construction of the overall design of the quadrotor navigation and positioning system according to the selected navigation and positioning solutions,respectively from two aspects of the hardware and software design.Video acquisition and processing of vision camera are completed through image processing controller,and detecting the horizontal velocity of the quadrotor relative to the ground by optical flow information.In order to overcome the interference caused by the aircraft attitude changes and holder,the output of the optical flow data needs smoothing filter and low-pass filtering and scaling the scale,and the digital image information of Lucas-Kanade algorithm obtained needs to be corrected and compensated with the sensor on-board in the navigation and positioning process.Navigation and positioning of quadrotor is implemented ultimately,which is the fusion of GPS latitude and longitude information on the basis of the above optical flow information,Barometer / ultrasonic height information,and the navigation targets on the ground station planning.Finally,some related aircraft flight tests outside presents preliminary proof that the feasibility of quadrotor navigation and positioning systems and methods.