The invention discloses an unmanned aerial vehicle capable of automatically switching a navigation system. The unmanned aerial vehicle comprises an unmanned aerial vehicle body, a laser SLAM system for realizing navigation of the unmanned aerial vehicle, a visual SLAM system for assisting the navigation of the unmanned aerial vehicle and a controller, and when the controller detects that an error between a pose obtained by a laser inertial odometer in the laser SLAM system and a reference true value is greater than a switching set threshold value, the laser SLAM system is switched to the visual SLAM system for unmanned aerial vehicle navigation. The unmanned aerial vehicle provided by the invention can still make a motion decision in a complex environment when encountering severe weather such as heavy rain, dense smoke or dense fog, the accuracy and stability of the unmanned aerial vehicle are improved, the use is convenient, and meanwhile, the safety is improved.

    本发明公开了一种自动切换导航系统的无人机,包括无人机本体,用于实现无人机的导航的激光SLAM系统,用于辅助无人机的导航的视觉SLAM系统和一控制器;当控制器检测到激光SLAM系统中的激光惯性里程计得到的位姿与参考真值的误差大于切换设定阈值时,将所述激光SLAM系统切换到所述视觉SLAM系统,用于无人机导航。本发明提供的无人机可以在遇到大雨、浓烟或浓雾等恶劣天气时,仍然能够在复杂的环境中做出运动决策,提高无人机的准确度和稳定性,使用方便,同时提高了安全性。


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    Titel :

    Unmanned aerial vehicle capable of automatically switching navigation system


    Weitere Titelangaben:

    一种自动切换导航系统的无人机


    Erscheinungsdatum :

    20.02.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64U / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung



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