基于视觉-惯性的四旋翼无人机自主导航系统状态估计研究  

Research on the State Estimation of the Quad-rotor UAV Autonomous Navigation System Based on Vision-Inertia

作　　者：何玲[1] He Ling(Suzhou Industrial Park Institute of Vocational Technology,Suzhou 215000)

机构地区：[1]苏州工业园区职业技术学院,江苏苏州215000

出　　处：《中阿科技论坛（中英文）》2021年第11期102-104,共3页China-Arab States Science and Technology Forum

摘　　要：无人机在未知环境中的自主飞行依赖于高精度的飞行控制、稳定的飞行状态估计及准确的运动决策和运动规划等多种技术。本文基于视觉—惯性组合导航方法,以Parrot公司的AR.Drone 2.0无人机为载体,对四旋翼无人机自主导航系统状态估计与预测进行了研究和分析。The autonomous flight of UAVs in unknown environments relies on multiple technologies such as high-precision flight control,stable flight state estimation,accurate motion decision-making and motion planning.Based on the vision-inertial integrated navigation method,this paper uses AR.Drone 2.0 UAV of the Parrot as the carrier to study and analyze the state estimation and prediction of the quad-rotor UAV autonomous navigation system.

关 键 词：四旋无人机 惯性组合 导航方法 状态估计与预测 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.3