Research On Indoor Positioning And Navigation Image Processing Based On Multi Rotor Aircraft

Multi-rotor aircraft have developed rapidly in recent years,with common aircraft being controlled by a user or player with a remote control.When you fly outside,you can navigate through GPS.The automatic flight mission can be planned and loaded through ground stations.But with no GPS in the room,you need to rely on other sensors to fly autonomously.The image sensor(camera)is the most common one.By adding image sensors and visual processors on the aircraft,the aircraft can fly autonomously based on image(vision).The characteristics of the machine vision is: abundant information,high intelligent degree,in recent years,visual tracking and measuring distance technology applications in aerospace,sea,ground and other fields have a wide range of applications.The navigation system based on visual image processing technology has the advantages of low cost,good autonomy and compact size.For example,high-end aircraft navigation,uav navigation and the navigation of the Mars probe are all applied to image-based positioning and navigation technology.At present,the technology of image processing and positioning is improving.compared with its advantages such as wide detection range and large amount of information.For ground robots,using odometer with simultaneous localization and map to create complex visual sensor have proved that can build a very successful visual navigation system,and there are many environment for robot vision navigation and positioning algorithm.However,the use of these algorithms on the aircraft for the same work needs more sensors,at the same time will be limited by the spacecraft themselves load limited,onboard computing ability is limited,inertial positioning error is bigger,motion control characteristics such as more rapid response requirements,some algorithms on the aircraft do not apply.processing system based on quadrotors.The image processing,camera positioning system using a low cost,fly in the simple guide map,no complex model,can make aircraft flying along the route reservation in the confined space of a room.Specific technical implementation is as follows: the aircraft itself can manipulate normal flight,a remote control in remote control closed cases,depend on the location technology based on image processing,also can complete flight along the right-of-way.The indoor environment of the camera is processed,which mainly carries out the noise reduction filtering,binarization,image analysis and processing,so that the aircraft can be adjusted to meet the expected route.The experiment proves that the indoor positioning image processing system based on multi-rotor is satisfactory in general indoor environment and has certain theoretical value and practicability.