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将一种自研的光流传感器安装到飞行平台上,利用光流信息控制飞行器的地形跟随和自动着陆.测试了光流传感器的测量性能,建立了飞行器的运动模型,开发了基于光流反馈的地形跟随控制算法,提出了光流自动着陆的控制规律,并进行了数学仿真和硬件在回路的实时仿真验证,实验结果表明:光流信息可以一种相对简单的形式来巧妙地同时控制飞行速度和飞行高度,保证飞行器安全地执行多种飞行任务,实验证明了光流传感器在飞行控制中具有工程可行性.
A kind of self-developed optical flow sensor is installed on the flight platform, the optical flow information is used to control the terrain follow-up and automatic landing of the aircraft.The measurement performance of the optical flow sensor is tested, the movement model of the aircraft is established, and the optical flow feedback The control law of optical flow automatic landing is put forward and the mathematical simulation and hardware real-time simulation of the circuit are given. The experimental results show that the optical flow information can be used in a relatively simple form to skillfully control the flight at the same time Speed and flight altitude to ensure that the aircraft safely perform a variety of missions, the experiment proved that the optical flow sensor in the flight control with engineering feasibility.