UAV Indoor Location And Path Planning System Based On ARUCO Code Array

In recent years,multi-rotor UAVs have become the focus of attention and research because of their simple structure,flexible control,low cost and scalability.UAV indoor fixed point and path planning is the hot content of domestic and foreign research.In order to meet the demand of autonomous navigation of miniature UAV in indoor environment,this dissertation is based on the research status and key technologies of UAV indoor positioning and path planning.(1)In order to solve the problem of the stability of UAV when it is used in indoor positioning and path planning of UAVs,a UAV height control system based on ADR algorithm is designed.The quaternion method to calculate the attitude information and height information fusion,improve the accuracy of the height data.The design of a high degree of self-disturbance rejection controller relative to the traditional control methods to improve the UAV in the static and dynamic flight a high degree of stability.(2)In order to solve the indoor positioning problem of UAV,an indoor positioning system based on optical flow is designed,which lays the foundation for the fusion of the position information of two-dimensional code and the positioning and navigation based on two-dimensional code array.The obtained optical flow value and altitude,angular velocity data fusion,the optical flow of the pixel speed into UAV real-time speed.Adopt cascade PID controller,realize the UAV indoor fixed-point hovering.(3)Aiming at the problem of obtaining the global position information of UAS,the ARUCO two-dimensional code base is used to generate the 10×10 ARUCO code array to provide the global position information.Relative to the current hot UWB and zigbee positioning,positioning accuracy to ± 5cm range,and the low cost easy to implement.Through the cascade PID controller,the UAV can achieve the fixed-point hovering over a two-dimensional code,and has certain anti-interference ability.(4)Aiming at UAV indoor path planning problem.This paper first simulates the A * and D * path planning algorithms.Collision factor is added into the heuristic function of D * algorithm,and the path information is optimized,which improves the safety and efficiency of UAV indoor flight.The design of the federal filter consisting of optical flow / IMU / height and two-dimensional code / SINS sub-filter,solves the problem of the discontinuity of position information caused by the low recognition rate of two-dimensional code and provides the controller with accurate and continuous position and Speed data.At present,most UAV indoor path planning studies are in the simulation or semi-simulation stage,and this innovative combination of two-dimensional code array and improved D * path planning algorithm,the successful realization of the UAV in the indoor two-dimensional code array On the path planning.In the hummingbird UAV after many experimental flight verification,two-dimensional code in the indoor array can achieve a stable self-positioning and path planning.