AN UAV FIXED POINT HOVER SYSTEM AND METHOD

摘要

The invention relates to the field of unmanned aerial vehicle (UAV), and especially relates to a UAV fixed point hover system and method which can be used in indoor environment. The system comprising UAV UAV flight controller, fixed point hover control module and UAV motor module. UAV flight controller is used to control the flight of UAV; fixed point hover control module is used to control fixed point hover in UAV flight; motor module is used to change the flight motion state of UAV. The system provided by the invention includes a UAV system and method for UAV flight control, motor and fixed point hover control module. In fixed point hover control module, texture features are used to obtain effective areas, compared with the traditional fixed-point optical flow method, the computation is reduced. Then optical flow field is calculated by using optical flow method for above effective areas, to obtain the information of control acceleration.