| abstract |
The invention relates to the positioning control of the unmanned aerial vehicle, in order to improve the autonomous positioning and navigation capability of the unmanned aerial vehicle in a complex environment, and complete the high-precision control and complex flight tasks of the unmanned aerial vehicle. The technical solution adopted in the present invention is that, for a multi-rotor UAV autonomous positioning method based on depth vision, a hardware platform of the multi-rotor UAV system is first built, including: the body of the multi-rotor UAV, a depth camera, and a SLAM algorithm execution machine. On-board processor and positioning and tracking on-board processor; depth sensor includes color camera and depth camera, SLAM algorithm executes on-board processor for calculation and image processing, positioning and tracking on-board processor integrates three-axis accelerometer, three-axis gyroscope, The three-axis magnetometer and barometer micro-sensors are used to realize positioning and hovering, trajectory tracking flight tasks, and the processor realizes real-time communication with the ground through data interface connection. The invention is mainly applied to the autonomous positioning occasion of the multi-rotor unmanned aerial vehicle. |