Research On Navigation And Control Technique Of Unmanned Hexarotor Based On Optical Flow

In recent years,multi-rotor unmanned aerial vehicle(UAV)has been paid more and more attention in military and civil fields because of its low cost,zero casualties and so on.Six-rotor UAV as multi rotor UAV,not only has the vertical takeoff and landing and hovering,side of the fly,inverted and flight characteristics,but also has very stable flight attitude,greatly reduces the use of environmental requirements,and has wide application prospect.Navigation and control technology is the key technology of the unmanned hexarotor.In this paper,based on the small six rotor unmanned aerial vehicle(UAV),the control technology of UAV and the navigation and positioning technology based on optical flow are studied.Firstly,according to the principle of the unmanned hexarotor,the mathematical model is established,and the attitude loop and trajectory loop control law based on PID algorithm are designed.At the same time,the principle of the optical flow algorithm is analyzed,and the optical flow LK algorithm and the Pyramid optical flow are analyzed and modeled.Secondly,a dynamic target detection method based on optical flow and neural network is designed.First,using optical flow to detect motion vector of target contour pixels,and each pixel position;then the target detection based on neural network position,we get each pixel position;finally fused filter wave accurate position of the target location information will be obtained by the two methods,and the simulation is given.Simulation results verify the accuracy of the dynamic target detection and optical flow based on neural network fusion.Then,based on the hardware design and flight control function of unmanned hexarotor,an indoor positioning system based on optical flow is designed.According to the functional requirements,this paper focuses on the design of indoor positioning function.Using the advantage of optical flow to output the velocity vector of the moving object,the corresponding damping is given.Finally,the hardware and software parts of the system are integrated,and the flight test of the system is carried out.The experimental results show that the design of the unmanned hexarotor target detection and indoor positioning system with autonomous flight capability and stability,and can achieve high accuracy to detect moving targets,to achieve the indoor positioning function is very good,has a good system reliability,the UAV model is universal for different rotor.