基于光流传感器的四旋翼飞行器悬停校正

摘要

Because a great drift exists in the low-cost inertial measurement unit,a quadrotor aircraft can hardly hover stably in a fixed area.Therefore,a method based on optical flow sensor for hovering calibra-tion is provided.The optical flow sensor is mounted at the bottom of the quadrotor aircraft to detect the horizontal velocity of the quadrotor aircraft relative to ground by the optical flow information.Attitude esti-mation is compensated to correct hovering.Test results show that this method can effectively improve the hovering stability of quadrotor aircraft,so as to ensure the aircraft can carry out battlefield reconnais-sance,shooting correction,interfering enemy and other military tasks.%由于低成本的惯性测量单元存在较大漂移，四旋翼飞行器难以稳定地悬停在固定区域，基于此，提出了一种基于光流传感器的四旋翼飞行器悬停校正方法。将光流传感器安装在四旋翼飞行器底部，利用光流信息检测四旋翼飞行器相对地面的水平移动速度，对姿态估计进行补偿，实现悬停校正。试验结果表明：该方法能够有效地提高四旋翼飞行器的悬停稳定性，从而保证飞行器能够执行战场侦察、校正射击、干扰敌人等多种军事任务。