一种四旋翼无人机定位的改进LK光流算法
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摘要
在无人机迅猛发展的今天,无人机的室内定位仍然是个难题,集中出现精度不高、不稳定、过长的延时等问题。提前布置室内环境提供定位信息方案成本高,且不符合经济效益。针对四旋翼无人机,提出一种改进后的LK光流算法,采用Shi-Tomasi角点检测算法、双线性插值法,提高无人机定位精度和稳定性。并将该算法在载机上实现。研究表明:改进后的LK光流法室内定位精度高,稳定性好;无人机在稳定光照条件下能进行定点飞行;定点精度为半径30 cm的圆形。
With the rapid development of unmanned aerial vehicles( UAV),the indoor positioning of UAV is still a difficult problem. It is of high cost to provide location information in advance,and does not meet the economic benefits. An improved LK optical flow algorithm was proposed for four rotor unmanned aerial vehicle(UAV),in which Shi-Tomasi corner detection algorithm and bilinear interpolation method were used to improve the positioning accuracy and stability of UAV. The algorithm was implemented on the computer. The results show that the improved LK optical flow method has high precision and good stability. UAV can carry on fixed point flight under the stable illumination condition. Fixed point accuracy is a circle with radius 30 cm.
With the rapid development of unmanned aerial vehicles( UAV),the indoor positioning of UAV is still a difficult problem. It is of high cost to provide location information in advance,and does not meet the economic benefits. An improved LK optical flow algorithm was proposed for four rotor unmanned aerial vehicle(UAV),in which Shi-Tomasi corner detection algorithm and bilinear interpolation method were used to improve the positioning accuracy and stability of UAV. The algorithm was implemented on the computer. The results show that the improved LK optical flow method has high precision and good stability. UAV can carry on fixed point flight under the stable illumination condition. Fixed point accuracy is a circle with radius 30 cm.
引文
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[2]张天华.基于STM32F4系列单片机的四旋翼自主飞行器系统[J].电子制作,2016(S1):8.
[3]于乃功,徐丽,阮晓钢.一种稀疏光流计算方法[J].计算机科学与技术汇刊:中英文版,2013(3):49-54.YU N G,XU L,RUAN X G. A Sparse Optical Flow Field Calculation Method[J]. Transaction on Computer Science and Technology,2013(3):49-54.
[4]吕强,倪佩佩,王国胜,等.基于光流传感器的四旋翼飞行器悬停校正[J].装甲兵工程学院学报,2014(3):68-72.LV Q,NI P P,WANG G S,et al. Hovering Calibration of Quadrotor Aircrafts Based on Optical Flow Sensor[J].Journal of Academy of Armored Force Engineering,2014(3):68-72.
[5]陈磊,陈宗基.基于稀疏光流的无人机自主导航方案[J].航空学报,2008,29(S1):127-134.CHEN L,CHEN Z J.Sparse-optical-flow-based Autonomous Navigation Scheme for Unmanned Aerial Vehicles[J].Acta Aeronautica et Astronautica Sinica,2008,29(S1):127-134.
[6]江志军,易华蓉.一种基于图像金字塔光流的特征跟踪方法[J].武汉大学学报(信息科学版),2007,32(8):680-683.JIANG Z J,YI H R.An Image Pyramid-based Feature Detection and Tracking Algorithm[J].Geomatics and Information Science of Wuhan University,2007,32(8):680-683.
[7]张洪涛.四旋翼微型飞行器位姿及控制策略的研究[D].哈尔滨:哈尔滨工业大学,2014.
[8]曹美会,鲜斌,张旭,等.基于视觉的四旋翼无人机自主定位与控制系统[J].信息与控制,2015,44(2):190-196.CAO M H,XIAN B,ZHANG X,et al.An Autonomous Visionbased Localization and Control System for Quadrotor UAV[J].Information and Control,2015,44(2):190-196.
[9]于合龙,刘浩洋,苏恒强.基于光流追踪技术的变形位移测量方法[J].吉林大学学报(理学版),2014(2):331-335.YU H L,LIU H Y,SU H Q.Material Deformation Displacement Measurement Method Based on Light Flow Tracing Technology[J]. Journal of Jilin University(Science Edition),2014(2):331-335.
[10]裴巧娜.基于光流法的运动目标检测与跟踪技术[D].北京:北方工业大学,2009.
[11]孙季丰,王成清.基于特征点光流和卡尔曼滤波的运动车辆跟踪[J].华南理工大学学报(自然科学版),2005,33(10):19-23.SUN J F,WANG C Q. Tracking Method for Moving Vehicles Based on Feature-Point Optical Flow and Kalman Filtration[J]. Journal of South China University of Technology(Natural Science Edition),2005,33(10):19-23.
[12]GRABE V,BLTHOFF H H,GIORDANO P R.On-board Velocity Estimation and Closed-loop Control of a Quadrotor UAV Based on Optical Flow[C]//IEEE International Conference on Robotics and Automation,2012:491-497.
[13] GRABE V,BULTHOFF H H,GIORDANO P R.A Comparison of Scale Estimation Schemes for a Quadrotor UAV Based on Optical Flow and IMU Measurements[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems,2013:5193-5200.
[14]杨天雨,贾文峰,赖际舟,等.惯性/光流/磁组合导航技术在四旋翼飞行器中的应用[J].传感器与微系统,2016,35(1):156-160.YANG T Y,JIA W F,LAI J Z,et al. Application of Inertial/Optical-flow/Magnetic Integrated Navigation Technique in Quadrotor Helicopter[J]. Transducer and Microsystem Technologies,2016,35(1):156-160.
[15]宋宇,翁新武,郭昕刚.基于光流和惯性导航的小型无人机定位方法[J].传感器与微系统,2015,34(1):13-16.SONG Y,WENG X W,GUO X G.Small UAV Localization Method Based on Optical-flow and Inertial Navigation[J].Transducer and Microsystem Technologies,2015,34(1):13-16.