基于地标的无人机仓库环境导航方法研究  

Research on Landmark-Based Warehouse Environment Navigation for UAV

作　　者：汉鑫 刘云清[1] 董岩[1] 颜飞[1] 张华鑫 HAN Xin;LIU Yunqing;DONG Yan;YAN Fei;ZHANG Huaxin(School of Electronic Information Engineering,Changchun University of Science and Technology,Changchun 130022)

机构地区：[1]长春理工大学电子信息工程学院

出　　处：《长春理工大学学报（自然科学版）》2019年第4期71-75,共5页Journal of Changchun University of Science and Technology(Natural Science Edition)

基　　金：吉林省省级产业创新专项资金项目(2018C035-3)

摘　　要：以四旋翼无人机为研究对象,基于地标和视觉控制技术,研究了在仓库环境下无人机的自主导航问题。首先设计地面标线与组合色块表示仓库环境,利用单目摄像头采集地标信息;然后利用无人机采集的姿态信息将两种地标信息解算为导航控制量,针对仓库环境存在磁场干扰的问题,设计了卡尔曼滤波器对航向角进行滤波;最后制定了导航过程中的控制策略。实验结果表明无人机在地标的参照下可在3~6m宽的货架过道中实现有效的位置定位,利用卡尔曼滤波算法解决了仓库环境下的磁场干扰问题,达到了可靠的导航效果。A autonomous navigation algorithm is designed for the quadrotor UAV by using the visual positioning technology and landmarks in the warehouse environment.Firstly,the ground straight line and color block landmarks are designed to represent the warehouse environment;and the monocular visual system is used to collect the landmark information.Then,the attitude information collected by the UAV is used to calculate the two kinds of landmarks information as the navigation control quantity.Aiming at the problem of magnetic field interference in the warehouse environment,the Kalman filter is designed to filter the navigation control quantity of the heading angle.Finally,the control strategy in the navigation process is worked out.The experimental results show that the UAV can effectively locate the position in the 3~6m wide shelf aisle under the reference of the landmarks.The problem of magnetic field interference can be solved in the warehouse environment by using the Kalman filter.In the end,reliable navigation effect is realized.

关 键 词：无人机 室内导航 磁场干扰环境 卡尔曼滤波 

分 类 号：TP751[自动化与计算机技术—检测技术与自动化装置]