基于图像处理技术的四旋翼定点降落研究  

Research on Fixed-point Landing of Quadrotors Based on Image Processing Technology

作　　者：任丽莉[1] 李申亮 杨凤滨 滕悦 康冰[2] REN Li-li;LI Shen-liang;YANG Feng-bin;TENG Yue;KANG Bing(High Performance Computing Center of Changchun Normal University,Changchun 130032,China;College of Communication Engineering,Jilin University,Changchun 130022, China;PetroChina Liaoyang Petrochemical Compang,Liaoyang 111003, China)

机构地区：[1]长春师范大学高性能计算中心,吉林长春130032 [2]吉林大学通信工程学院,吉林长春130022 [3]中国石油辽阳石化公司,辽宁辽阳111003

出　　处：《长春师范大学学报》2019年第8期41-45,共5页Journal of Changchun Normal University

基　　金：长春师范大学自然科学基金项目“基于ZigBee技术的智能校园安防系统”(长师院自科合字[2011]第011号);吉林省省级产业创新专项资金项目“基于物联网的掌纹诊病采集系统及其产业化”(2017C032-4)

摘　　要：将OPENCV计算机图像处理技术运用于四旋翼飞行器中,建立四旋翼的动力学模型并使用串级PID的控制策略进行四旋翼的姿态调节,最终在地面站图像处理系统的控制下实现定点精确降落。The OPENCV computer image processing technology is applied to the quadrotor aircraft, and the dynamic model of the quadrotor is established while the attitude of the quadrotor is adjusted by the cascade PID control strategy, and finally the aim of fix-pointed landing accurately under the control of the ground station image processing system is accomplished.

关 键 词：OPENCV 串级PID 定点降落 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]