Design And Implementation Of Vision Based UAV Indoor Formation And Flight Control System

UAV(unmanned aerial vehicle)features small volume,cheap cost,simple structures and high maneuverability,which can be widely used in disaster relief,geological exploration,plant protection and other fields.In indoor environments,drones are commonly used for flying performances,indoor searches,etc.But in some situations,because of restrictions of functions,single UAV has a lot of weaknesses,thus multiple UAVs are needed to work together to finish more complex and large-scale tasks.Cooperative control technology of UAV has become a vital research field.With the cooperative control technology becoming mature,formation flight of UAV develops into a new application direction,which can be used extensively.This article designed and finished a set of small-scale indoor formation flight control system of UAV.Aiming at the disadvantage of low accuracy of traditional indoor UAV location,this system combines Apriltag visual reference system and applies visual positioning method to achieve formation flight.Firstly,the labels are laid on the ground.The camera under the UAV is used to collect labels and transmit them to the server to calculate the position and attitude information,which greatly improves the positional accuracy.Secondly,aiming at the problems of low frequency and large delay of visual positioning method the paper combined the method of differential operation to lower the image processing frequency,and by using navigation information compensation to improve location frequency,improved the traditional proportion differential control method to increase the stability of the system.Finally,the distributed master-slave control method based on relative position is used to control the formation flight of UAV.In the experiments,through the Matlab and Simulink simulation verified the reliability of single UA tracking algorithm and formation algorithm.And through AR Drone 2.0 four-rotor flight platform,editing the flying route in this system,respective experiments are made of the measurement of location accuracy,single UAV tracking and multiple drones formation flight.The results showed that the flight control system has higher accuracy and better flying effect,thus proved the practicability of this project,and it has certain application value in indoor small-scale formation flight performance.