Unmanned aerial vehicle multi-sensor calibration method and device

The invention discloses an unmanned aerial vehicle multi-sensor calibration method and device, and the method comprises the following steps: S1, employing a mechanical arm to clamp an unmanned aerial vehicle, and setting a calibration plate; s2, mechanical arm movement tracks corresponding to all th...

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Bibliographische Detailangaben
Hauptverfasser:	HUANG LI, LIU SHOUBAO, XUE YUAN, ZHANG JUNYONG, CHEN HU, HAN BING, WU JINXIANG, JIN DINGSHOU
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	ANALOGOUS ARRANGEMENTS USING OTHER WAVES CALCULATING CHAMBERS PROVIDED WITH MANIPULATION DEVICES COMPUTING COUNTING DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES GYROSCOPIC INSTRUMENTS HAND TOOLS IMAGE DATA PROCESSING OR GENERATION, IN GENERAL LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MANIPULATORS MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PERFORMING OPERATIONS PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS PORTABLE POWER-DRIVEN TOOLS RADIO DIRECTION-FINDING RADIO NAVIGATION SURVEYING TESTING TRANSPORTING
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Beschreibung
Zusammenfassung:	The invention discloses an unmanned aerial vehicle multi-sensor calibration method and device, and the method comprises the following steps: S1, employing a mechanical arm to clamp an unmanned aerial vehicle, and setting a calibration plate; s2, mechanical arm movement tracks corresponding to all the cameras carried on the unmanned aerial vehicle are generated and stored; s3, judging whether joint calibration needs to be carried out on a certain path of camera carried on the unmanned aerial vehicle and an IMU (Inertial Measurement Unit); and S4, repeating the step S3 until calibration of each camera carried on the unmanned aerial vehicle and joint calibration of each camera and the IMU are completed. According to the method, each path of sensor carried on the unmanned aerial vehicle can be rapidly and conveniently calibrated, and the process is free of human intervention, so that the precision and consistency of the calibration result can be ensured to the greatest extent, and the calibration efficiency is gr