摘要
为降低利用摄像头实现四旋翼寻迹飞行和悬停时调试PID参数的难度,进一步提高悬停的精准性,提出了一种利用MATLAB曲线拟合功能快速实现摄像头倾角补偿的方法。以STM32F103C8T6单片机为处理核心,用OV7725摄像头采集图像数据,通过四旋翼平台上的实际测试,以没有做倾角补偿的悬停作为对比,验证了该方法的有效性。实验结果表明:利用该方法可以较好的对摄像头做倾斜补偿,满足四旋翼精准悬停的要求,提高了系统的稳定性和可靠性,对四旋翼控制算法和应用具有重要的参考价值。
In order to reduce the difficulty of debugging PID parameters by using the camera to realize racing flight and hovering of quadcopter and further improve the accuracy of hovering,a method of quickly implementing camera tilt compensation using MATLAB curve fiting function is proposed.Using STM32F103C8T6 microcontroller as the processing core and OV7725 camera to collect image data,the effectiveness of the method was verified by actual tests on a quadrotor platform with hovering without inclination compensation as a comparison.The experimental results show that the use of the method can better do tilt compensation for the camera to meet the requirements of quadrotor precision hovering,improve the stability and reliability of the system,and has an important reference value for quadrotor control algorithms and applications.
作者
吴恩铭
翟佳俊
杨国栋
孙艺东
WU En-ming;ZHAI Jia-jun;YANG Guo-dong;SUN Yi-dong(Engineering and Technology Training Center,Civil Aviation University of China,Tianjin 300300,China;School of Electronic Information and Automation,Civil Aviation University of China,Tianjin 300300,China;Hangzhou Xunyan Network Technology Co.,Ltd,Hangzhou Zhejiang 311121,China;Department of State-owned Assets and Laboratory Management,Civil Aviation University of China,Tianjin 300300,China)
出处
《计算机仿真》
2024年第11期63-68,250,共7页
Computer Simulation
基金
中央高校基本科研业务费(3122018S007)。
