多传感器融合的小型无人机地形跟随系统设计

发布时间：2018-01-26 04:25

本文关键词： 无人机飞行控制系统 TOF传感器地形跟随深度学习　出处：《深圳大学》2017年硕士论文　论文类型：学位论文

【摘要】：小型无人机作为一种低成本、易操控、高效率的可飞行载体,在航拍、工业巡检以及农业植保等众多领域发挥了重要作用。由于无人机的飞行环境具有复杂性和不确定性,简单的自动化飞行策略难以保证无人机在复杂环境中的飞行安全。所以进一步提高无人机的飞行能力,完善无人机的飞行控制策略有着重要的价值和意义。本文介绍了一种基于多TOF传感器的地形跟随系统,用于解决小型无人机在复杂环境飞行时地形障碍的规避问题。本文针对无人机地形跟随问题。设计了一套包含多TOF传感器的无人机飞行控制系统。飞行控制系统以ADSP-BF706为主控芯片,包含IMU、气压计以及可扩展的GPS和电子罗盘模块。提出了一种基于多TOF传感器的无人机高度控制方法。无人机通过对不同下视角度下地形的实时距离测量,从而实现高效复杂的地形跟随控制。同时,基于机载多TOF传感器和VICON空间定位系统对飞行数据进行采集,为进一步基于深度学习的无人机地形跟随控制方法研究提供基础数据支撑。实验结果表明,本次设计实现的地形跟随系统效果良好。基于多TOF传感器的地形跟随系统能够有效规避由于地形起伏而产生的障碍,并对前方的障碍有一定的预判作用,提高了飞机的安全性。
[Abstract]:Small UAVs as a low-cost, easy to control, efficient flying carrier in aerial photography. Many fields such as industrial inspection and agricultural plant protection play an important role because of the complexity and uncertainty of UAV flight environment. Simple automatic flight strategy can not guarantee the flight safety of UAV in complex environment, so the flight capability of UAV can be further improved. It is of great value and significance to improve the flight control strategy of UAV. This paper introduces a terrain following system based on multiple TOF sensors. In order to solve the problem of terrain obstacle avoidance of small UAV flying in complex environment, a UAV flight control system with multiple TOF sensors is designed in this paper, aiming at the terrain following problem of UAV. The system uses ADSP-BF706 as the main control chip. Contains IMU. The barometer, extensible GPS and electronic compass module. A method of UAV altitude control based on multiple TOF sensors is proposed. The UAV measures the real time distance of terrain at different down-looking angles. In order to achieve an efficient and complex terrain follow control, the flight data is collected based on airborne multi-#en0# sensors and VICON spatial positioning system. It provides the basic data support for the further research of terrain following control method of UAV based on depth learning. The experimental results show that. The terrain following system based on multiple TOF sensors can effectively avoid the obstacles caused by the terrain undulation and has a certain predictive effect on the obstacles ahead. The safety of the aircraft was improved.
【学位授予单位】：深圳大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：V279;TP212

【参考文献】