基于超声波传感器的四旋翼飞行器室内定位与控制

摘要

In order to improve quadrotor aircrafts' indoor positioning accuracy,a method based on ultrasonic for quadrotor aircrafts indoor positioning is proposed. In a room of regular layout,airborne ultrasonic sensors were used to transmit and receive ultrasonic,and AVR single chips were applied to calculate the distance between the aircraft and the wall or the obstacle in different directions. The distance data were sent to PIX4 flight control chip to accomplish attitude control and deviation adjusting to achieve the positioning accuracy.The experimental results demonstrated that the proposed method can achieve the positioning and fixed distance flight of quadrotor aircrafts with a high positioning accuracy.%为提高四旋翼飞行器在室内的定位精度,提出一种基于超声波的四旋翼室内定位方法.在布局规整的房间内,利用机载超声波传感器发射和接收超声波,通过AVR单片机计算飞行器在不同方向与墙面或障碍物之间的距离,将距离数据发送到PIXHawk飞行控制芯片进行飞行姿态控制和偏差调整,实现四旋翼飞行器在室内精确定位.试验数据分析表明,飞行器悬停定位水平方向误差不超过2cm,高度误差不超过1cm,能够实现室内较高精度的定位悬停和定距离飞行.