Research And Design Of Indoor Positioning UAV Based On Improved Optical Flow Algorithm

Since the emergence of the UAV,it has played an irreplaceable role in various fields with its unique advantages,such as flexible operation,wide application scenarios,intelligent control process,and so on.Especially in the 21 st century,with the rapid development of the Internet of things,5G technology,and artificial intelligence.As a widely used platform,UAV has attracted close attention in various fields.Due to the problems of low navigation accuracy and weak reliability in traditional inertial navigation,it has gradually been unable to meet the needs of people to perform high-precision flight missions.Moreover,the complex unfamiliar environment and electronic interference pose new challenges to the traditional global positioning system(GPS).This makes the UAV need to perceive the surrounding environment and make independent decisions with its sensors in the face of a complex and changeable environment,to realize accurate positioning and autonomous landing without traditional GPS signals.In this paper,a solution based on an improved optical flow algorithm is proposed.The improved feature point matching algorithm and the illumination compensation algorithm progressive frame insertion can effectively improve the interference ability of traditional optical flow algorithm in the face of illumination change noise.It improves the precise positioning ability of the UAV in the face of complex and changeable environment without GPS signal and improve the real-time performance of the algorithm.With the development of technology and the continuous updating and iteration of multi-sensor fusion navigation technology,the continuous progress of automation technology and artificial intelligence has been promoted,and gratifying research results have been achieved.More and more researchers apply multi-sensor fusion navigation technology to the flight control of UAVs,which promotes the development of UAV sensing technology and makes the control process more intelligent and accurate.In the research on UAV fixedpoint hover,the error of UAV fixed-point navigation based on satellite navigation technology cannot be ignored,and it is difficult to realize UAV fixed-point hover.The price of an optical motion capture system is relatively expensive,and it has high requirements for the environment.It is difficult to implement it in a room where cameras cannot be arranged or the light intensity is not high.The flight capture of a UAV can only be within the range where the camera can capture images,which is seriously limited in practical application.The emergence of optical flow sensors puts forward a new idea for the positioning of UAVs.Its positioning accuracy is higher than that of GPS and other satellite navigation technologies,and the price is lower than that of the optical action capture system.It is suitable for application in consumer UAVs.Firstly,starting with the basic working principle of four-rotor UAVs,this paper is familiar with the basic structure,flight mode,and the way to realize various flight actions of four-rotor UAVs,and deeply studies and understands the description mode of UAV attitude angle and the mathematical model of attitude.Then the traditional positioning and navigation algorithms are studied,and the advantages and disadvantages of the commonly used optical flow algorithms are improved.Finally,build the hardware experimental platform,select the appropriate main control chip,inertial sensor,wireless communication module,optical flow sensor,and high-precision laser ranging sensor to complete the PCB circuit and driving control of the UAV,design the relevant experimental process,verify the improved optical flow algorithm on the built hardware platform,and compare the flight stability of the four-rotor UAV under each optical flow algorithm Hover accuracy,adjust the algorithm and control parameters according to the obtained results,and finally realize the accurate fixed-point hover of the four-rotor UAV in the indoor environment.