基于视觉的无人机定点飞行控制技术研究

摘要

针对四旋翼无人机在给定地面标识点情况下的飞行控制技术进行研究,采用了基于卡尔曼滤波的Camshift算法进行目标识别,再采用PID控制器实现对无人机的位置控制,最后通过在Vi-con环境下的定点飞行试验,验证了系统可行性.%In this paper,the flight control technique is invested for quadrotor unmanned aerial vehicle (UAV)with given ground marker point. Firstly,a Camshift algorithm based on Kalman filter is used to identify the guiding target.Secondly,a PIDController is used to control the position of the UAV.Finally, the flight guiding control system is verified with a Vicon indoor target positioning system,which shows that the propose flight control method is effective.