Research On Rotorcraft UAV Indoor Target Accuracy Positioning

With the rapid development of drone technology,breakthroughs have been made in the fields of military and civilian use.The accuracy,real-time and rapidity of positioning information is the first step to complete autonomous flight.Aiming at the problem that the current UAV positioning has insufficient precision and strong interference,a rotor UAV positioning system is designed to achieve its own precise positioning,and it can also realize the precise positioning of the UAV to indoor targets.Indoor targets include airborne drone targets and ground obstacle moving targets,and the application of the algorithm in the positioning system is studied,and its positioning accuracy and anti-interference ability are analyzed.Firstly,the dynamics model of the UAV is analyzed,the structural layout is designed,and its load capacity is tested.The PX4 flow optical flow positioning are used for the positioning of the UAV itself,and the ground station software monitoring UAV is written.On this basis,the positioning of the UAV's indoor target is completed.Secondly,the unmanned aerial vehicle dynamic detection algorithm based on rotating FHOG-LBP is studied,this detection method is based on the unique shape and motion characteristics of the UAV.The rotating FHOG-LBP features are extracted,and the SVM-RFE is used to train detecting targets and targets is detected to use the sliding window-based detection algorithm,which can improve the detection accuracy of aerial targets.Aiming at the problem of aerial target localization,the parallax principle of binocular stereo vision is studied,the coordinates of moving targets are calculated,the aerial target is located and the motion trend is analyzed.Thirdly,Problem detection for ground moving obstacles,the Adaptive Monte Carlo Location seamless fusion localization method is studied.Using the KLD sampling principle,the observation model provided by the UAG and ultrasonic determines the importance weight of the particles.According to the particle distribution in the state space,adaptively adjusting the number of particles required for the next iteration can improve the UAV's movement to the ground.The efficiency of target real-time positioning.Finally,the UAV positioning system was designed,and the actual flight positioning experiment and simulation experiment were carried out to verify the positioning accuracy and anti-interference ability.