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小型飞行器路线制导和控制系统的改良升级主要以更精准的飞行器定位和遥控功能为核心技术评判指标,但飞行器飞行的复杂环境影响和不确定性干扰因素,会对飞行器控制者的信号接收/传导造成不可预期的影响,致使无人机在飞行过程的定位偏差造成剐蹭或碰撞事件,严重者甚至影响到控制信号的实时传输,造成失控和航迹偏移现象。文中针对在GPS信号缺失环境下的多旋翼飞行器的系统定位和自主飞行控制问题,设计开发出一种基于视觉导航构建的中央自控系统,其设计引入新式Pixhawk模块作为核心算法,协同ROS飞行系统,共同建立稳定低耗的通信导航网络,实现多旋翼无人机自主飞行控制系统和自主航迹修正。
The improvement and upgrading of the route guidance and control system for small aircraft mainly focus on the more accurate aircraft positioning and remote control functions as the core technical evaluation index. However, the complicated environmental impact of aircraft flying and the uncertainties interfere with the signal reception / transmission of aircraft controllers Resulting in unpredictable effects. As a result, UAVs collide or collide with each other during flight, causing serious problems such as real-time transmission of control signals and loss of control and track offset. In this paper, aiming at the system localization and autonomous flight control of multi-rotor aircrafts in the absence of GPS signals, a central control system based on visual navigation is designed and developed. The new Pixhawk module is introduced into the design as the core algorithm to coordinate with ROS flight system. Jointly establish a stable and low-consumption communication and navigation network, and realize autonomous rotorcraft control system and autonomous trajectory correction of multi-rotor UAVs.