基于Pixhawk的四旋翼无人机视觉自定位系统研究  

A Study of Visual Self-positioning System on Pixhawk-based Quadrotor UAVs

作　　者：邱鹏瑞 袁希平[1] 甘淑[1] 张海涛[3] 容会 QIU Pengrui;YUAN Xiping;GAN Shu;ZHANG Haitao;RONG Hui(Faculty of Land Resources Engineering, Kunming University of Science and Technology, Kunming 650093, China;Training Department, Kunming Metallurgy College, Kunming 650033, China;College of Science, Yunnan Agriculture University, Kunming 650201, China;Faculty of Art and Design, Kunming Metallurgy College, Kunming 650033, China)

机构地区：[1]昆明理工大学国土资源工程学院,云南昆明650093 [2]昆明冶金高等专科学校实训处,云南昆明650033 [3]云南农业大学理学院,云南昆明650201 [4]昆明冶金高等专科学校艺术设计学院,云南昆明650033

出　　处：《昆明理工大学学报（自然科学版）》2018年第3期45-48,共4页Journal of Kunming University of Science and Technology(Natural Science)

基　　金：云南省自然科学基金重点项目(2015FA016);云南省教育厅科学研究基金项目(2018JS548)

摘　　要：针对四旋翼无人机在GPS信号不强或被干扰的区域导致飞行控制失效的故障问题,利用Pixhawk飞控板和视觉传感器采集实时数据并通过数传模块将噪声滤除后的位置信息传递至地面站,再利用射影定理和目标定位方法确定位置参数信息.算法首先运用射影定理对目标点快速定位,再利用定位目标的坐标对四旋翼无人机新状态下的位置坐标进行反向定位,有效避免了基于消隐点单应的摄像机焦距变化导致内部参数的变化问题,经仿真实验表明在自定位的精度和速度上,能够有效结合Pixhawk飞控满足自定位,并能规避摄像标定不准带来的定位误差.To solve the problems of weak GPS signals or flight control failures in areas with strong interferences for quadrotor UAVs,Pixhawk flight control board and visual sensors are used to collect real-time data,and location data,which has been cleared of noise by data transmission module,is transmitted to a ground station. Location parameter is then confirmed by projective theorem and positioning methods. Algorithm confirms the target location rapidly at first based on projective theorem,then the coordinates of the target is used to facilitate a reverse-positioning of the quadrotor UAV,which effectively prevent internal parameter variations caused by focal length changes based on blanking point homography. Simulation experiments show that on the basis of precision and speed of self-positioning,self-positioning can be achieved through effective combination with Pixhawk flight control,which can prevent positioning errors caused by inaccurate camera calibrations.

关 键 词：Pixhawk 射影定理 目标定位 反向自定位 四旋翼无人机 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]