UAV system design based on an improved visual inertial odometry

DOI:	10.11809/bqzbgcxb2023.04.039
Keywords:	visual inertial odometry; the improved RANSAC; outlier elimination; VINS Fusion; UAV
Abstract:	Aiming at the positioning and navigation of small rotary wing UAVs in the absence of GNSS signals, this paper proposes a UAV software and hardware solution based on an improved visual inertial odometry. Firstly, the sampling point acquisition strategy and the parallel calculation method with priority are designed, the traditional RANSAC algorithm is improved, and VINS Fusion is embedded and used for UAV positioning. Secondly, the UAV hardware platform is built, and the flight control communication interface and control system is designed. At the same time, in order to effectively verify the validity of the algorithm, the simulation of the UAV system is realized with the help of gazebo. The experimental results show that the average interior point ratio of the algorithm in the basic matrix calculation increases by 1.8% , the root mean square error of the odometry after using the improved algorithm on the MH_01 sequence reduces by 0.001 m, and the root mean square error of the MH_02 sequence reduces by 0.019 m , which meets the accuracy and real time requirements of UAV positioning and navigation.
Issue:	Vol. 44 No. 4 (2023)
Published:	2023-04-28
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