ЭКСПЕРИМЕНТАЛЬНАЯ ОЦЕНКА ТОЧНОСТИ ПРОСТРАНСТВЕННОЙ СТАБИЛИЗАЦИИ КВАДРОКОПТЕРА DJI AIR 2S*

Abstract

The paper proposes a method for assessing the actual accuracy of spatial stabilization of a DJI Air 2S quadcopter using its video camera and processing the resulting video sequences with a developed software package in the mode of hovering over a reference object. The software package was implemented using the OpenCV library in Python. To register deviations of stabilization systems from a given position, it is proposed to use a reference field with known geometric parameters, information about which is entered into the processing algorithm. The main task of the software package is to identify the boundaries of the reference field and measure the geometric sides in pixels which allows you to determine the center of the field and measure its deviation relative to the center of the image as well as determine the height of the unmanned aerial vehicle flight. In the work the height measurement algorithm was tested. This technique is used to evaluate the accuracy of quadcopter stabilization with various combinations of navigation sensors used for this purpose. A statistical analysis of the obtained results was carried out and conclusions were drawn about compliance with the characteristics of positioning accuracy declared by the manufacturer using optical obstacle avoidance systems and satellite navigation systems.