微小型飞行器中的数据采集与控制系统

为探索微型飞行器的飞行控制规律，基于脉宽调制信号设计了一种专用的微型机载数据采集和输出控制系统。在微小尺寸和低功耗的前提下充分利用有限的硬件资源实现了对微型飞行器的多路飞行数据的实时采集和存储，同时按照要求对微小型飞行器进行了飞行控制。通过飞行试验，应用于微小型飞行器的微型测控系统的可行性和可靠性得到了证明。     

基于微型无人机的全自动三维重建方法实验

针对测绘无人机应急响应能力较差的局限,基于微型无人机系统,设计灵活机动的地理信息快速获取流程,利用MAV平台获取的超低空影像进行全自动大场景三维重建的实验。方法分3个步骤,包括提取特征点并匹配,计算相机姿态参数,多视立体重建生成3D模型。最后,对0.2 km2测区进行了MAV航拍得到154张照片,全自动生成DOM、DSM及纹理贴图场景3D模型,实验结果表明了本文方法的可行性和有效性。     

微小型无人机无线数字视频传输系统的设计与实现

系统采用MCP4010微处理器作为主控芯片,通过其外围接口,扩展了视频采集模块和无线网络模块,实现了视频数据的采集及无线发送功能。其机载部分基本实现了微型化,总重量仅为90 g,典型功耗4 W,可实时传输视频图像,传输有效半径为3 km（视距范围内）。该系统已成功应用在冀展为1.12 m的某微型多功能战术无人机上,并完成了搭载试验。     

微型飞行器机载摄像与无线传输系统的研究

介绍了微型飞行器机载摄像与无线传输系统的原理和性能指标。该系统机载部分基本实现了微型化，机载部分总重量仅8.5g，典型功耗0.78W，传输范围为500-1000m，可实时传输视频信号，并成功实现了微型飞行器THF380的搭载试验。     

一种微型飞行器测控系统数据的收发

要实现在真实飞行情况下对微型飞行器姿态等数据的测量,数据的无线收发是其关键技术。结合微型飞行器的特点,测控系统的硬件和软件需要相互配合实现了测控信号到数据的转化、发送和接收。文章以一种微型直升机测控系统为例说明数据发送和接收程序的编写及其需要注意的问题。     

Vistas and parallel tracking and mapping with Wall–Floor Features: Enabling autonomous flight in man-made environments

We propose a solution towards the problem of autonomous flight in man-made indoor environments with a micro aerial vehicle (MAV), using a frontal camera, a downward-facing sonar, and odometry inputs. While steering an MAV towards distant features that we call vistas, we build a map of the environment in a parallel tracking and mapping fashion to infer the wall structure and avoid lateral collisions in real-time. Our framework overcomes the limitations of traditional monocular SLAM approaches that are prone to failure when operating in feature-poor environments and when the camera purely rotates. First, we overcome the common dependency on feature-rich environments by detecting Wall–Floor Features(WFFs), a novel type of low-dimensional landmarks that are specifically designed for man-made environments to capture the geometric structure of the scene. We show that WFFs not only reveal the structure of the scene, but can also be tracked reliably. Second, we cope with difficult robot motions and environments by fusing the visual data with odometry measurements in a principled manner. This allows the robot to continue tracking when it purely rotates and when it temporarily navigates across a completely featureless environment. We demonstrate our results on a small commercially available quad-rotor platform flying in a typical feature-poor indoor environment.