摘要
针对GNSS信号受到干扰或在拒止环境下,多旋翼无人机的导航定位问题,设计一种多旋翼无人机视觉惯性里程计系统。介绍系统的总体设计方案、硬件选型与设计、软件系统搭建、通信协议规定以及算法设计思路。实验验证结果表明:该系统可以实际运行在多旋翼无人机上,当GNSS信号不可用时,仍可向飞控实时提供多旋翼无人机当前可用位姿,为多旋翼无人机视觉辅助导航设计提供参考。
A visual inertial odometry system for multi-rotor unmanned aerial vehicle(UAV)is designed to solve the navigation and positioning problems of multi-rotor UAV in the case of interference or denial of global navigation satellite system(GNSS)signals.The overall design scheme,hardware selection and design,software system construction,communication protocol and algorithm design ideas of the system are introduced.The experimental results show that the system can actually run on the multi-rotor UAV,and when the global navigation satellite system signal is not available,it can still provide the current available pose of the multi-rotor UAV to the flight control in real time,which provides a reference for the design of vision-aided navigation of the multi-rotor UAV.
作者
廖士楠
王伟
王世勇
Liao Shinan;Wang Wei;Wang Shiyong(Department of UAV,Automation Research Institute Co.,Ltd.of China South Industries Group Corporation,Mianyang 621000,China)
出处
《兵工自动化》
北大核心
2024年第2期89-92,共4页
Ordnance Industry Automation
作者简介
第一作者:廖士楠(1997-),男,安徽人,硕士。
