The leader of the hottest UAV indoor positioning

As we all know, if UAVs can move freely indoors like human beings, they will open an indoor market larger than the existing one. For outdoor environment, global navigation satellite system (GNSS) such as global positioning system (GPS) of the United States China's Beidou navigation satellite system (BDS) can provide users with high-precision positioning services, which basically meets users' needs for location-based services in outdoor scenes. However, the market demand for these materials will reach 13000 tons, and a large number of positioning needs of individual users, service robots, unmanned aerial vehicles, sweeping robots and so on occur in indoor scenes. However, the indoor scene is blocked by buildings, and the GNSS signal decays rapidly. Graphene can be produced in various ways, or even completely rejected, which cannot meet the needs of navigation and positioning in the indoor scene. Therefore, indoor positioning technology has become a hot topic in industry and academia. Here we will introduce the optical positioning technology of UAV laboratory, the leader of UAV indoor positioning

1. Introduction of UAV indoor optical positioning system UAV indoor optical positioning system (as shown in Figure 1) is a kind of equipment used to accurately measure the motion information of objects (rigid bodies) in indoor three-dimensional space. Based on the principle of computer vision, it records the motion information of reflective identification points on the objects in the capture area in the form of images through 2~8 infrared cameras arranged in the space, and then uses the computer to process the image data to calculate the six degree of freedom position and posture of the animals in real time, that is, the three degree of freedom position (x, y, Z coordinates) and the three degree of freedom attitude (pitch angle, yaw angle and roll angle). This system can also be called indoor GPS

2. Product function

1) shooting frame rate: 100 frames/second

2) 8 cameras covering 6m*4m*1.5m space

3) adaptability: indoor

4) positioning accuracy: mm 3. Product composition

1) 8 infrared light source smart cameras

2) lines, routers

3) reflective marker points (50)

4) software (SDK) and instructions

5) one graphics workstation

6) one dimensional target One positioning target each

7) eight 3-meter-high tripods (wall corners can be installed)

8) one set of software

with the development of plastic recycled particles industry 4. Product advantages compared with similar foreign products (icon, optitrack, etc.), UAV indoor optical positioning mainly has the following three advantages:

1) ultra-high cost performance, greatly reducing experimental costs

fully independent research and development, independent of foreign technology, saving high foreign technology import costs, On the premise of meeting the needs of customers, the product has ultra-high cost performance, which can minimize the cost of user experiments

2) all-round integration, systematic and comprehensive solution

the platform from visual positioning system, multi rotor communication to ground control station and related supporting software, such as the matlab based ground station software interface for controlling the flight of four rotor UAV (as shown in Figure 4), provides a complete set of control teaching service upgrading solutions for college students, scientific researchers and other users, and users do not need secondary development, The control experiment of multiple rotors can be carried out

3) domestic first-class level, housekeeper intimate service

it is reported that Zhuoyi intelligence (Beihang team), the UAV indoor optical positioning technology team, is based in China and has obtained a number of technical patents, making up for the gap in this field in China. The company is committed to a full range of integrated services such as product technology research and development, production and manufacturing, sales and after-sales. It can timely know and clarify customer needs, establish a communication mechanism with market needs at the first time, and provide users with more accurate housekeeping services

5. The software interface is shown in Figure 3.

6. The SVW motion capture system developed in the application scene is used to solve the six degree of freedom position and attitude of single or multiple rigid bodies in the capture area in real time and accurately, and can be applied to many scenes, such as: 1) robot real-time positioning. SVW can provide accurate measurement information of six degrees of freedom attitude and position for the control of various types of small aircraft and ground vehicles (such as four axis and six axis rotorcraft, biplane small UAV, small fixed wing aircraft), and then carry out rapid iterative design for various types of small aircraft and ground vehicles control algorithms (classical control algorithm, modern control algorithm, collaborative control algorithm, etc.) indoors Experiment and comprehensive verification provide core equipment support. Based on this indoor positioning platform, long-term continuous experimental teaching activities can be carried out or relevant units can be assisted to develop products to shorten the product development cycle. For example, it is applied to the future aircraft innovation practice base of graduate students of University of Electronic Science and technology of China (as shown in Figure 5) 2) virtual reality (VR) space positioning. SVW can also provide accurate six degree of freedom position and posture information for moving bodies such as helmets and handles, which are often used in virtual reality, and then provide core equipment support for virtual reality experience with large space and low delay. In the VR experience Pavilion, based on the indoor positioning platform, a wide range of virtual interactive experiences can be carried out, such as tracking multiple players in a large room, that is to say, these values are relative when they choose