| 无人机机载视觉测速系统设计 |
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| 引用本文： | 孙泽华. 无人机机载视觉测速系统设计[J]. 电子测试, 2016, 0(11): 16-17. DOI: 10.3969/j.issn.1000-8519.2016.11.007 |
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| 作者姓名： | 孙泽华 |
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| 作者单位： | 山东科技大学,山东青岛,266590 |
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| 摘 要： | 具有鲁棒性和高更新速率的速度和位置估计对可无人机的航行至关重要。本论文给出了一种具有高感光度的视觉传感器设计,使用ARM核M4单片机STM32以250Hz的实时更新速率来估计无人机的运动状态,使用板载惯性传感器进行角速率补偿,使用超声波传感器测量距离。在硬件设计基础上,提出了一种基于预测的图像块匹配算法,实现速度的精准测量。
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| 关 键 词： | STM32单片机 无人机 块匹配算法 惯性传感器 |
Vision-Based Velocity Measurement System for Unmanned Aerial Vehicle |
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| Abstract: | Robust velocity and position estimation at high update rates is crucial for mobile robot navigation.We present an optical flow sensor based on a machine vision CMOS image sensor for indoor and outdoor applications with very high light sensitivity.Optical flow is estimated on an ARM Cortex M4 microcontroller in real-time at 250 Hz update rate. Angular rate compensation with a gyroscope and distance scaling using a ultrasonic sensor are performed onboard. |
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| Keywords: | STM32 microprocessor Unmanned Aerial Vehicle Block Matching Algorithm Inertial Sensor |
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