【摘要】 为了打破传统的"灌输-验证式"教学模式,满足自动化专业的实验与实践教学要求,结合旋翼无人机的运动特性,本文设计了基于旋翼飞行器的双目视觉定位综合实验。首先,基于双目视觉里程计原理建立了双目视觉里程计误差模型,开发了基于双目视觉里程计的三维构图技术。在此基础上,通过大疆公司的旋翼无人机平台,搭载双目相机,采集旋翼无人机的运动位姿信息,并利用Ubuntu系统中的ROS环境解算获得旋翼无人机的位姿结果。该实验融合了导航定位、传感器检测等多门理论课程知识,采用"思考-创新式"教学方式,具有良好的开放性和广泛的应用性,有利于检验和激发学生对所学专业知识灵活运用的工程实践和创新能力。更多还原

【Abstract】 In order to break the traditional "indoctrination verification" teaching mode and meet the experimental and practical teaching requirements of automation specialty, combined with the motion characteristics of rotorcraft, this paper designs a binocular vision positioning comprehensive experiment based on rotorcraft. Firstly, based on the principle of binocular vision odometer, the error model of binocular vision odometer is established, and the 3 D composition technology based on binocular vision odometer is developed. On this basis, through Dajiang company’s rotor UAV platform, equipped with binocular camera, the motion pose information of the rotor UAV is collected, and the pose results of the rotor UAV are obtained by using the ROS environment in the Ubuntu system. The experiment integrates the knowledge of navigation and positioning, sensor detection and other theoretical courses, adopts the "thinking innovation" teaching method, has good openness and wide application, and is conducive to test and stimulate students’ engineering practice and innovation ability of flexible use of professional knowledge.更多还原