基于视觉的四旋翼飞行器稳定飞行控制

摘要

针对室内四旋翼搭载的常规惯性测量单元采集的速度具有很大误差,在实际飞行过程中无法定点悬停的问题,搭建了一套基于视觉的小型室内四旋翼飞行器,应用串级比例、 积分、 微分控制算法(PID:Proportion Integral Differential)控制飞行器.实验结果显示,此方法有效解决了室内或密闭环境下四旋翼在悬停飞行过程中水平漂移的问题,能使四旋翼飞行器在室内的环境下平稳飞行.%Indoor quadrotor with the speed of conventional inertial measurement unit to collect speed data has great error, unable to point in the process of actual flight hovering. Aiming at this problem based on vision, a set of small indoor four rotor aircraft is built, with the application of cascade ratio PID ( Proportion Integration Differential) control algorithm. The experimental results show that it effectively solves the indoor or closed environment in the process of the four rotor in hovering flight level drift problem, making the four rotor aircraft flying in the indoor environment smoothly.