针对在GPS信号缺失的环境下多旋翼飞行器的定位和自主飞行问题，构建了一个基于视觉导航的多旋翼无人飞行器控制系统。采用目前流行的pixhawk飞行控制模块和单目视觉定位算法，基于机器人操作系统（ROS）构建了通信网络系统，并选用一个低功耗的机载主控计算机实时地在板运行该系统。测试结果表明，搭建的无人飞行器平台能实现较精确的视觉定位和自主飞行。
Aimming at multi-rotor aircraft localization and autonomous fight in GPS-denied environments, we describe a multi-rotor unmanned aircraft control system based on visual navigation. Our system is equipped with a popular pixhawk flight control module and monocular visual localization algorithm, and a communication network system is established based on robot operating system(ROS). We use an onboard computer with low power consumption which deals with all the necessary real-time operations for the system.. Test results show that our multi-rotor aircraft platform can achieve accurate visual localization and autonomous flight.
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