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通过对四旋翼飞行特点的研究,为了保证四旋翼在简单背景的赛道线上稳定的起飞、降落,并且能够跟踪线路直飞和转向飞行,该算法采用基于中值滤波与分区统计算法结合的方法,让飞控芯片通过摄像头采集的图像自主决策飞行。最后,利用MATLAB软件和基于STM32芯片的四旋翼飞行器分别进行仿真和测试,实验结果表明这种算法在简单背景下能够成功循迹。
Based on the research of quadrotor flight characteristics, in order to ensure the quadrotor to take off and land steadily on the track line with simple background, and to track the direct flight and the turning flight, this algorithm uses the median filter combined with the district statistical algorithm Method that allows the flight control chip through the camera to capture images of autonomous decision-making flight. Finally, MATLAB software and STM32 chip-based quadrotor were used to simulate and test respectively. The experimental results show that this algorithm can be successfully tracked in a simple background.