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요약정보
基于OpenMV四旋翼无人机视觉跟踪系统设计 / Design of Visual Tracking System for Quadrotor UAV Based on OpenMV
Resource Type
Academic Journal
Authors
刘钱强
;
钟小勇
;
LIU Qianqiang
;
ZHONG Xiaoyong
Source
自动化与仪表 / Automation & Instrumentation
. 38(5):5-40
Subject
四旋翼无人机
PID
OpenMV
视觉跟踪
Language
Chinese
ISSN
1001-9944
Online Access
Find it @ DONGA
초록
无人机对目标的实时跟踪是无人机领域的研究热点与难点,该文设计了一个基于OpenMV四旋翼无人机视觉跟踪系统.该系统以STM32F407VGTx为主控芯片,以姿态传感器、气压计传感器、光流传感器、激光传感器和电子罗盘等为传感器,通过高速的SPI和UART接口获取无人机姿态,构建了一个稳定的飞行控制平台.设计了基于串级PID的无人机悬停、定点和定高飞行的控制算法与程序.在四旋翼无人机稳定飞行的平台上,通过OpenMV实现了四旋翼无人机对目标色块的实时跟踪.
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