Design Of Indoor Positioning And Obstacle Avoidance System For Four-rotor Aircraft

In recent years,because the UAV miniaturization,the rapid development of intelligence,so that unmanned aerial vehicles in a variety of areas to be applied.But four rotorcraft has yet to be improved in the indoor positioning and obstacle avoidance.Due to indoor lighting environment is not clearly,the detection element can not obtain the obstacle information accurately when sensing the external environment information,causing the map of the aircraft to be drawn inaccurate during the map build process.While the interior layout is uncertain,the aircraft will do a reentry or a large curvature turn when avoiding obstacles,resulting in low efficiency,and even endanger the safety of aircraft.This design first analyzes the mechanical structure and working principle of the four rotorcraft,which establishes the dynamic equation of the aircraft.And then it adopts the double control system designs on the hardware,which is helpful to improve the calculation speed,the data transmission speed,expand the external equipment and increase the information storage.It has the ability to provide favorable conditions for the four rotorcraft in the indoor working environment.The laser inertial navigation system is designed as the indoor positioning system.The experiment proves that the system can obtain accurate position information.The Canny algorithm is used to improve the accuracy of the obstacle information.The image information obtained by the laser monocular vision system is used to calculate the distance between the obstacle and the aircraft by performing low light compensation,threshold selection and expansion and corrosion treatment.Experiments show that the algorithm can extract the obstacle information accurately,and the difference between the measured distance and the actual distance is small.LDPRM algorithm is used to optimize the path.The aircraft selects the path according to the positioning system map in the implementation of indoor tasks.When the distance between the obstacle and the aircraft satisfies the avoidance condition,the path point of the reentry movement or the large angle turning when the obstacle avoidance is made is smooth,so that the aircraft can complete the task in an efficient manner.Simulation experiments based on MATLAB simulation toolbox verify that LDPRM algorithm can effectively carry out path planning based on sensor information.The design of the positioning and obstacle avoidance system to meet the general indoor environment in the ability to self-flight,it can perform a variety of indoor tasks by carrying the relevant equipment,having a greater application value and market competitiveness.