Indoor UAV Positioning System Based on Rotational Vision and Cascade Controller
Bingjie Chen, Zhiwen Zhu, Yuanze Zhang, Shuai Yue, Bo Yu, Haibo Du · 2022 41st Chinese Control Conference (CCC) · 2022
In order to solve the problem of autonomous positioning of UAV indoors, this paper designs a indoor autonomous positioning system of UAV based on rotatable visual and cascade controller. The system consists of a vision positioning module, an operation processing unit and a flight control module. The said vision positioning module includes a servo, a camera and a laser. The operation processing unit controls the rotation of the monocular camera so that the target object appears in the center of the field of view, and transmits the corresponding rotation angle to the flight control module. After processing the altitude information and servo rotation information, the flight control module calculates the position of the UAV and compares it to the ideal position. At the same time, it transmits the position error into the cascade position controller, which makes the UAV fly with a certain speed and accuracy for correction. Finally, we designed an experiment of area positioning and high precision seeding based on a quadrotor platform to verify the feasibility of the proposed scheme.