Research On Improved Biomimetic Sonar SLAM Algorithm Of Four-rotor Aircraft With High Flying

The SLAM technology of the four rotor aerocraft in the fixed height model is widely used in all aspects.The four rotorcraft of agricultural plant protection should ensure the fixed height between the four rotor aircraft and the crops in the air.The SLAM technology of the four rotor aircraft in the fixed height model can make the four rotor aerocraft irrigate the crops at a fixed height;The principle of using fixed high under the mode of four rotor aircraft SLAM can mimic the bat in the cave to avoid air barriers indoors or outdoors;The construction of two-dimensional experience map for the realization of the outer contour of the specific height of the building.Optimization of two dimensional experience map for four rotor aerocraft based on SLAM technology at a specific height,Bionic sonar SLAM(Bat SLAM)mode and audio perceptual hash closed-loop detection,realizing two-dimentional empirical graph optimization.First,build the bionic sonar system and the four rotor aircraft hardware platform,design the four rotor aircraft circuit schematic diagram and PCB,and hardware object production;Secondly,the mathematical model of four rotor aircraft control system is established by Newton Euler theorem,The PID control algorithm is used to design the attitude loop controller,the position loop controller and the high loop controller of the four rotor aircraft,and the feasibility of the three controllers is verified by the Matlab simulation experiment.Finally,the Bat SLAM model is used to update the bionic sonar template by absolute difference and image processing.This method only determines whether the appearance of two cochlear images is consistent,and there is no geometric processing and feature extraction;At the same time,the cochlear map produces all kinds of noise during the acquisition and transmission process.The cochlear graph obtained at the same position has certain differences,which leads to the distortion of the experience map of the construction.On the basis of Bat SLAM,we use audio perceptual hash algorithm to extract features of cochlea and generate audio perceptual hash templates;When the bionic sonar template recognition fails,we use the audio perception Hashi template to recognize the cell's correction and complete the closed loop detection.The improved algorithm not only takes into account the characteristic information of the cochlear map,but also takes into account the energy difference between adjacent bands,and improves the detection accuracy and recall rate of the closed loop detection.During the high flight of the four rotor aircraft,the acquired data and audio data obtained from the bionic sonar system are uploaded to the upper computer,and the simulation experiment is carried out.The results show that the Bat SLAM model based on audio perception and Hashi closed loop detection is adopted,It not only realizes the construction of the two dimensional experience map at the specific height of the four rotor aircraft,but also improves the accuracy and recall of the closed loop detection,improves the distortion of the experience chart,and realizes the optimization of the experience map.