国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

In order to realize autonomous flight of quadrotor, a vision navigation system was designed. Double CPU structure was adopted, which combined flight controller with navigation controller based on ARM processor and improved the speed of the system. Flight control part adopted quaternion algorithm of attitude, using the classic PID control design of the X, Y, Z three-axis PID controller for flight control of the system. Navigation part used unscented Kalman filter (UKF) to fuse inertial position and visual position, which gave the optimal position of the carrier and improved the navigation precision. Experimental results show that the navigation accuracy can be kept within 0.5m, while the whole system has better speed and stability based on images and visual navigation inertial navigation mode.