针对四旋翼飞行器悬停控制不准确的问题,提出一种基于光流传感器的四旋翼飞行器悬停控制方法。设计了一种基于STM32F407为核心的飞行器主控平台,其中光流传感器模块采用PX4FLOW;为加快计算图像光流场的速度,将VOD(Variance of Difference)块匹配准则的SEA算法应用到采集到的连续帧间图像光流场的计算上;最后采用增量式PID(Proportion Integration Differentiation)控制算法以达到比较精确的悬停控制。实验结果表明:该方法能够有效地提高四旋翼飞行器的悬停稳定性,悬停时在水平方向的控制范围在±10 cm之间,且计算相对简单,能满足实际需求。 Aimed at the inaccurate hover control of quadrotor, a method of hover control of quadrotor based on optical flow sensor is proposed. In this paper, an aircraft main control platform based on STM32F407 is designed, in which the optical flow sensor module adopts PX4FLOW. In order to speed up the calculation of the optical flow field of the image, the Variance of Difference (block VOD) block matching criterion is applied to the collected The continuous frame of image optical flow field calculation; Finally, incremental PID (Proportion Integration Differentiation) control algorithm to achieve more accurate hover control. The experimental results show that this method can effectively improve the hover stability of quadrotor, and the control range in the horizontal direction when hovering is within ± 10 cm, and the calculation is relatively simple and can meet the actual needs.