The invention provides a positioning method and an unmanned aerial vehicle based on multidirectional optical flow fusion positioning, and can be applied to the technical field of unmanned aerial vehicles. The method comprises the steps that optical flow positioning information and laser ranging information are obtained through detection modules, the optical flow positioning information and the laser ranging information are sent to a positioning controller, the number of the detection modules is multiple, and the multiple pieces of optical flow positioning information and the multiple pieces of laser ranging information correspond to the detection directions of the multiple detection modules respectively; performing multi-optical flow fusion on the obtained optical flow positioning information and laser ranging information by using a positioning controller to obtain target fusion data; processing the target fusion data by using a positioning controller to obtain positioning information, and sending the positioning information to a flight control system; and carrying out position calculation on the positioning information by using the flight control system to obtain a settlement result, and controlling the unmanned aerial vehicle to execute a flight task according to a calculation result.
本公开提供了一种定位方法和基于多向光流融合定位的无人机,可以应用于无人机技术领域。该方法包括:利用探测模块获取光流定位信息和激光测距信息,并将光流定位信息和激光测距信息发送至定位控制器,其中,探测模块包括多个,多个光流定位信息和多个激光测距信息分别与多个探测模块的探测方向对应;利用定位控制器对获取到的光流定位信息和激光测距信息进行多光流融合,得到目标融合数据;利用定位控制器处理目标融合数据,得到定位信息,并将定位信息发送至飞控系统;利用飞控系统对定位信息进行位置解算,得到结算结果,并根据解算结果控制无人机执行飞行任务。
Positioning method and unmanned aerial vehicle based on multidirectional optical flow fusion positioning
定位方法和基于多向光流融合定位的无人机
2024-07-09
Patent
Electronic Resource
Chinese
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