CAJ | 학술논문

由于低成本的惯性测量单元存在较大漂移，四旋翼飞行器难以稳定地悬停在固定区域，基于此，提出了一种基于光流传感器的四旋翼飞行器悬停校正方法。将光流传感器安装在四旋翼飞行器底部，利用光流信息检测四旋翼飞行器相对地面的水平移动速度，对姿态估计进行补偿，实现悬停校正。试验结果表明：该方法能够有效地提高四旋翼飞行器的悬停稳定性，从而保证飞行器能够执行战场侦察、校正射击、干扰敌人等多种军事任务。
유우저성본적관성측량단원존재교대표이，사선익비행기난이은정지현정재고정구역，기우차，제출료일충기우광류전감기적사선익비행기현정교정방법。장광류전감기안장재사선익비행기저부，이용광류신식검측사선익비행기상대지면적수평이동속도，대자태고계진행보상，실현현정교정。시험결과표명：해방법능구유효지제고사선익비행기적현정은정성，종이보증비행기능구집행전장정찰、교정사격、간우활인등다충군사임무。
Because a great drift exists in the low-cost inertial measurement unit,a quadrotor aircraft can hardly hover stably in a fixed area.Therefore,a method based on optical flow sensor for hovering calibra-tion is provided.The optical flow sensor is mounted at the bottom of the quadrotor aircraft to detect the horizontal velocity of the quadrotor aircraft relative to ground by the optical flow information.Attitude esti-mation is compensated to correct hovering.Test results show that this method can effectively improve the hovering stability of quadrotor aircraft,so as to ensure the aircraft can carry out battlefield reconnais-sance,shooting correction,interfering enemy and other military tasks.