基于光流和超声波模块的小型四旋翼无人机定点悬停控制

摘要

Aiming at micro quadrotor's fixed hovering without GPS, an improved control scheme based on computer vision was proposed in this paper and the micro quadrotor's flight test platform was built.When the optical flow worked, an ultrasonic module was introduced to provide height information to the quadrotor and ensure optical flow sensor working at a fixed height and improve accuracy of the measurement.The experimen-tal result shows that,the proposed scheme achieves better performance.%针对小型四旋翼无人机无GPS环境下的定点悬停问题,设计了一种改进的基于计算机视觉的控制方案,并搭建小型四旋翼无人机飞行试验平台.在光流工作的同时,引入超声波模块为无人机提供高度信息,使得光流传感器始终在固定高度工作,提高光流测量的准确度.试验结果表明:该方案的定点悬停效果较好.