采用光流传感器的三维角速度测量  

Three-dimensional angular velocity measurement using optical flow sensors

作　　者：李翔[1] 张鹏 石琦 唐妍梅[2] Li Xiang;Zhang Peng;Shi Qi;Tang Yanmei(School of Electronic Engineering and Automation,Guilin University of Electronic Technology,Guilin 541004,China;College of Physics and Technology,Guangxi Normal University,Guilin 541004,China)

机构地区：[1]桂林电子科技大学电子工程与自动化学院,桂林541004 [2]广西师范大学物理科学与技术学院,桂林541004

出　　处：《国外电子测量技术》2021年第10期1-5,共5页Foreign Electronic Measurement Technology

基　　金：国家自然科学基金(41761087,61603107)项目资助。

摘　　要：光流传感器目前广泛用于无人机飞控系统中,可测量无人机相对于地面的位移和速度。光流测量值包含线运动和角运动信息,为更好地将这两部分信息进行分离和提取,提出一种线性测量模型。该模型利用3个或更多不共面的光流传感器,采用线性变换来描述光流测量值与三维线速度和角速度之间的关系。实验结果表明,采用该模型可实现基于光流的三维角速度的测量,能够代替常用的微机电系统(MEMS)陀螺仪,用于三维姿态测量,提高无人机飞控系统的可靠性和冗余度。Optical flow sensors are widely used in unmanned aerial vehicles(UAV) at present, and they can detect the displacement and velocity of UAV relative to the ground. Optical flow measurements involve the information of both linear and angular motions. A novel linear measurement model is introduced to efficiently extract the information of linear and angular motions from optical flow measurements. The proposed measurement model makes use of three or more non-coplanar optical flow sensors, and it describes the relationship between optical flow measurement and three-dimensional linear/angular velocities by linear transformation. Experiment results prove the feasibility of the proposed model in measuring angular velocity through optical flow. The proposed method can be used to replace the commonly used micro-electro-mechanical system(MEMS) gyroscope for three-dimensional attitude measurement, and it can also help to enhance the robustness and redundancy of UAV flight control system.

关 键 词：光流传感器 角速度 姿态测量 无人机 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]