EnglishforUnmannedaerialvehicle無(wú)人機(jī)專(zhuān)業(yè)英語(yǔ)fluctuate[?fl?kt?ue?t]toggle[?t?gl]blinking[?bl??k??]drift [dr?ft]zig [z?g]zag [z?g]vegetation[?ved???te??n]depict[d??p?kt]traverse[tr??v?:s]droplet[?dr?pl?t]WordsReview波動(dòng);漲落;切換;閃光的，一眨眼的;漂移，偏移;之字形;v.轉(zhuǎn)彎;急轉(zhuǎn)，急變;急彎;鋸齒形轉(zhuǎn)角;植物，草木;描述;描繪，描畫(huà);vt.通過(guò);橫越，橫貫;vi.橫越;來(lái)回移動(dòng);旋轉(zhuǎn);小滴，微滴;小水珠;diagonal[da???g?nl]EIRP(EffectiveIsotropicRadiatedPower)isotropic[?a?s?'tr?p?k] WordsReview對(duì)角線(xiàn)的;斜的;斜線(xiàn)的;斜紋的;等效全向輻射功率等方性的;迷向;Unit

6:PX4FLOWOpticalFlowCameraBoardOverviewspecialized [?spe??la?zd]downward [?da?nw?d]uncorrelated[?n'k?r?le?t?d]slant [slɑ:nt]hover[?h?v?(r)]Stabilise['st?b?la?z]lean [li:n]correlatewith[?k?rileitwie]consistent[k?n?s?st?nt]erratic[??r?t?k]NewWords專(zhuān)門(mén)的;專(zhuān)業(yè)的;專(zhuān)用的;向下的，往下的;非束縛的，無(wú)關(guān)聯(lián)的;（使）傾斜，歪斜;盤(pán)旋;徘徊;猶豫;（使）穩(wěn)定，（使）穩(wěn)固;（使）傾斜，屈身;（使）相同于;符合于;把…聯(lián)系起來(lái);一致的;連續(xù)的;不矛盾的;堅(jiān)持的;飄忽不定的;反復(fù)無(wú)常;visible [?v?z?bl]accountfor [??kauntf?:]alternatively incandescent[??nk?n?desnt]NewWords看得見(jiàn)的;明顯的，顯然的;可得到的;說(shuō)明（原因、理由等）;導(dǎo)致，引起;或者;二者擇一地;要不然;白熾的;<術(shù)>白熱的;ThePX4FLOW(OpticalFlow)Sensorisaspecializedhighresolutiondownwardpointingcameramoduleanda3-axisgyrothatusesthegroundtextureandvisiblefeaturesandaseparaterangefindertodetermineaircraftgroundvelocity.Part1OverviewPx4flow（光流）傳感器包含有一個(gè)專(zhuān)門(mén)的高分辨率下點(diǎn)攝像頭模塊和一個(gè)3軸陀螺儀，利用地面紋理、明顯的特征和一個(gè)單獨(dú)的測(cè)距儀來(lái)確定飛機(jī)的地速。Althoughthesensorhasplusabuilt-inMaxbotixLZ-EZ4sonartomeasureheight,thishasnotbeenreliableenoughoverarangeofsurfacesintesting,soitsreadingsarenotusedandinstead

aseparateRangeFindersuchastheLightWareSF10bmustalsobeattachedtothevehicle.Part1Overview雖然傳感器已經(jīng)加上內(nèi)置的maxbotixlz-ez4聲納來(lái)測(cè)量高度，在測(cè)試中超過(guò)一定范圍還顯得不夠可靠，所以不用它的讀數(shù)，代之的是飛行器必須安裝如LightWareSF10b單獨(dú)的測(cè)距儀。ThePX4FlowfirmwaremustbeupdatedpriortoconnectingtothePixhawk.ThiscanbeaccomplishedwithQGroundControlorMissionPlanner,buttheinstructionsbelowonlycoverthemethodusingMissionPlanner.在連接Pixhawk之前必須對(duì)PX4Flow固件進(jìn)行更新。可以通過(guò)QGroundControl或者M(jìn)issionPlanner來(lái)完成，但是下面的操作指南僅僅涵蓋使用MP進(jìn)行固件更新的方法。Part2UpgradethePX4Flowsensor’sfirmwareConnectthePX4FlowsensortoyourcomputerusingamicroUSBcable.OnaWindowsmachinea“PX4Flow”deviceshouldappearinConnectiondrop-downoftheMissionPlanner(andtheWindowsDeviceManager).Ifitdoesnotyoumayneedtodownload,unzipandmanuallyinstallthepx4flowwindowsdriverwhichmayinturnrequireallowinginstallingunsigneddrivers.Part2UpgradethePX4Flowsensor’sfirmware將PX4Flow傳感器用microUSB線(xiàn)連接至電腦。在電腦上，PX4Flow設(shè)備應(yīng)該出現(xiàn)在MP的連接下拉菜單里。如果沒(méi)出現(xiàn)的話(huà)，你或許需要下載、解壓并手動(dòng)安裝px4flow的驅(qū)動(dòng)，這可能轉(zhuǎn)而要求允許安裝其它驅(qū)動(dòng)。OpentheInitialSetup,InstallFirmwarescreen,selecttheCOMportandclickthe“Loadcustomfirmware”link.Selectthepx4flow-klt-06dec2014.px4binaryyoudownloadedinStep1.Youmayneedtounplugandplugbackinthesensortostarttheupload.打開(kāi)初始設(shè)置，安裝固件點(diǎn)開(kāi)，選擇COM口并且點(diǎn)擊“加載普通固件”鏈接。選擇第一步下載的二進(jìn)制文件。你或許需要拔掉和重新插上傳感器開(kāi)始上傳。Part2UpgradethePX4Flowsensor’sfirmwareNormallysensorsareshippedwithoutbeingfocused.ConnecttheflowsensortoyourPCwithamicroUSBcable.OpentheMissionPlannerandselecttheappropriateCOMportandpressConnect.OpentheInitialSetup>OptionalHardware>PX4FlowscreenRemovethelenscapandpointthecameraatahighcontrastobjectatleast3maway.Removethesmallscrewthatstopsthelensfromturningandadjustthefocusuntiltheimageappearsclearly.Part3Focusingthelens正常來(lái)說(shuō)，傳感器買(mǎi)來(lái)就不用對(duì)焦。用mircroUSB線(xiàn)將光流傳感器連接你的電腦。打開(kāi)MP軟件，選擇合適的COM口，并點(diǎn)Connect。移除鏡頭蓋，并將相機(jī)對(duì)準(zhǔn)至少3m開(kāi)外的高對(duì)比度的物體。移除阻礙鏡頭旋轉(zhuǎn)的小螺絲，并調(diào)整焦距直到圖像變得清晰。Part4ConnecttothePixhawkPart4ConnecttothePixhawk

ThesensorshouldbeconnectedtothePixhawk’sthe4-pinI2Cport.InmostcasesanI2CsplittershouldbeusedtoallowotherI2Cdevices(liketheexternalRGBLEDandGPS/Compassmodule’scompass)tosharethesameport.

該傳感器應(yīng)該連接至Pixhawk的4針I(yè)2C端口。大多數(shù)情況下，應(yīng)該使用一個(gè)I2C分線(xiàn)器來(lái)連接其他的I2C設(shè)備，這樣同一個(gè)接口就可以連更多的設(shè)備。ThedefaultmountingoftheflowsensorisforittobepointingstraightdownwiththemicroUSBportpointingtowardsthefrontofthevehicle.Onthebackofthesensoryoushouldseetheaxisprinted,theXaxisshouldpointforwardsandtheYaxistotheright.TheFLOW_ORIENT_YAWparametercanbeusedtoaccountforotheryaworientations.Part5MountingtotheFrame默認(rèn)情況下，光流傳感器的安裝是直接指向下方，并使得mircroUSB接口朝向飛行器的前方。在傳感器的背部，你應(yīng)該看到印有關(guān)于軸的字樣，X軸應(yīng)該指向前方，Y軸指向右邊。FLOW_ORIENT_YAW參數(shù)能用來(lái)設(shè)置其他偏航方向。Itisimportantthattheflowsensorbemountedwhereitdoesnotexperienceangularangularvibrationthatcouldblurtheimage.光流傳感器安裝在沒(méi)有角度震動(dòng)的地方是重要的，因?yàn)榻嵌日饎?dòng)會(huì)使圖像模糊。Part5MountingtotheFrameThesensorcanbeenabledbyconnectingtotheflightcontrollerwiththeMissionPlannerandthenonthe

InitialSetup|OptionalHardware|OpticalFlow

pagecheckthe

Enable

checkbox.Alternativelythe

FLOW_ENABLE

parametershouldbesetto“1”throughthefullparameterslist.ThesensorwillbeinitialisedoncethePixhawkboardisrebooted.

使能傳感器要先將飛控和MP連接，然后依次進(jìn)入頁(yè)面勾選使能單選框?；蛘咴谌珔?shù)列表中，F(xiàn)LOW_ENABLE參數(shù)應(yīng)該設(shè)置為“1”。一旦Pixhawk板重啟后，光流將會(huì)初始化。Part6EnablingthesensorWiththesensorconnectedtotheflightcontroller’sI2Cport,connecttotheflightcontrollerwiththeMissionPlannerandopentheFlightDatascreen’sStatustab.Ifthesensorisoperatingyoushouldseenon-zeroopt_m_x,opt_m_yandanopt_quavalues.

先將光流傳感器連接至飛控的I2C接口，然后將飛控連接至MP，并打開(kāi)飛行數(shù)據(jù)窗口的狀態(tài)表。如果傳感器有效，你應(yīng)該能看到opt_m_x、opt_m_y和anopt_qua的數(shù)據(jù)都是非零。Part7Testingthesensor1.Connecttoyourflightcontrollerandensurethatloggingwhiledisarmedisenabled(InCopter-3.3setLOG_BITMASKto131071,InCopter-3.4LOG_DISARMEDto1)連接至飛控，并確保解鎖后能記錄數(shù)據(jù)。2.Findalocationwithatexturedsurfaceandgoodlighting(naturallightorstrongincandescent)找一個(gè)有紋理和光照好的地方。3.RemovePropellers(safetyfirst)Part8Calibratingthesensor4.Poweronthevehicleandholdlevelawayfromyourbodyandateyelevel5.Rotateaboutthevehicleinrollthrougharangefrom-15to+15degreesinaboutasecondandthenbackagain.Repeatthis5to10times.Byclosingoneeyeyouwillbeabletokeepthecentreofthesensorstationaryagainstthebackgroundwhileyoudotherotation.6.Repeataboutthevehiclepitchaxis.Part8Calibratingthesensor4、給設(shè)備上電，將設(shè)備抬起，使傳感器與眼睛在一個(gè)平面5、在1秒的時(shí)間內(nèi)沿橫滾方向，從-15到+15度的范圍內(nèi)轉(zhuǎn)動(dòng)設(shè)備，來(lái)回重復(fù)5到10次。在轉(zhuǎn)動(dòng)時(shí)，通過(guò)閉上一只眼，你將能保持傳感器的中心相對(duì)背景是靜止的(相對(duì)地面的位置保持不變)。6、沿俯仰軸重復(fù)上述步驟。7.DownloadthedataflashlogsandplottheOF.flowX,OF.bodyXandIMU.GyrXdata.Itshouldlooksomethinglikethis:下載數(shù)據(jù)閃存日志，像下圖一樣用曲線(xiàn)表示OF.flowX,

OF.bodyX

和IMU.GyrX

數(shù)據(jù)。Part8Calibratingthesensor8.IfOF.flowXislargerorsmallerthanOF.bodyX,thenitcanbeadjustedbychangingtheFLOW_FXSCALERparameter9.IFOF.bodyXisuncorrelatedoroppositesigntoIMU.GyrX,theFLOW_ORIENT_YAWparameterisprobablysetincorrectlyoryoudonothavetheflowsensorpointingdownwards10.PlottheOF.flowY,OF.bodyYband,IMU.GyrYdata.Itshouldlooksomethinglikethis:Part8Calibratingthesensor11.IfOF.flowYislargerorsmallerthanOF.bodyY,thenitcanbeadjustedbychangingtheFLOW_FYSCALERparameter12.IFOF.bodyYisuncorrelatedoroppositesigntoIMU.GyrY,theFLOW_ORIENT_YAWparameterisprobablysetincorrectlyoryoudonothavetheflowsensorpointingdownwardsPart8CalibratingthesensorPart9RangeSensorCheckChecktheEKF5.meaRngmessageintheflashlogfromyourflowsensorcalibrationtest.Checkthefollowing:1.Thereiscontinuousrangemeasurement.2.Itoutputsarangeonthegroundthatis10cmoftheexpectedvalue(rememberthatmeasuredrangewillincreasewhenyourollorpitchthevehiclebecausethelaseristhenmeasuringonaslant)檢查下光流傳感器標(biāo)定測(cè)試產(chǎn)生的閃存日志中EKF5.meaRng信息：1.有連續(xù)的范圍測(cè)量數(shù)據(jù)2.傳感器輸出范圍在期望的10cm范圍附近(記住當(dāng)你在橫滾或者俯仰方向上轉(zhuǎn)動(dòng)設(shè)備時(shí)，測(cè)量范圍將增大，因?yàn)槌晜鞲衅髟趦A斜方向測(cè)量距離)Part10Pre-ArmchecksToallowarmingandtakingoffinLoiterwithoutaGPS，theGPSarmingcheckshouldbeturnedoffasshownbelow.Unchecking“All”and“GPS”andleaveallotheroptionschecked.為了在沒(méi)有GPS的懸停模式下能夠加鎖并起飛，GPS加鎖檢查應(yīng)該如下所示關(guān)閉。去選“ALL”和“GPS”并保持其他選項(xiàng)處于勾選狀態(tài)。Part10Pre-Armchecks

Becauseopticalflowrequiresgoodsonar/rangefinderdatawhentheopticalflowisenabled,anadditionalpre-armcheckisenforced.Whilethevehicleisdisarmedyoushouldliftthevehiclestraightuptoatleast50cmbutnohigherthan2m(iftherangefinderseesadistanceofover2myouwillneedtorestarttheflightcontroller).

由于光流傳感器需要精準(zhǔn)的超聲距離數(shù)據(jù)，使用光流傳感器時(shí)要強(qiáng)制進(jìn)行額外的預(yù)加鎖檢查。設(shè)備在disarmed

（非配對(duì)、非鎖定）的情況下，我們需要將設(shè)備垂直抬高到至少50cm但是小于2米的位置。Part10Pre-Armchecks

Theerrormessagewhenarmingfailsthischeckis“PreArm:checkrangefinder”Thischeckcanbedisabledbyuncheckingthe“Parameter/Sonar”armingcheck.

當(dāng)這項(xiàng)檢測(cè)失敗時(shí)，會(huì)輸出“PreArm:

check

range

finder”的信息。通過(guò)取消勾選“Parameter/Sonar”

可以跳過(guò)這項(xiàng)檢測(cè)。Part11FirstFlight(CopterOnly)1.Set

EKF_GPS_TYPE

=

0

(wedon’twanttheopticalflowbeingusedbytheEKFatthisstage)2.PerformashorttestflighthoveringinstabiliseorAltHoldatsmallleananglesatheightsrangingfrom50cmto3m3.Downloadtheflashlogandplotthefollowinginmissionplanner4.EKF5.meaRngshouldcorrelatewiththechangeinvehicleheight5.OF.flowX

and

OF.flowY

shouldbevarying6.OF.bodyX

and

OF.bodyY

shouldbeconsistentwithIMU.GyrXandIMU.GyrYPart11FirstFlight(CopterOnly)1、設(shè)置參數(shù)EKF_GPS_TYPE為0（意味著光流數(shù)據(jù)不進(jìn)行擴(kuò)展卡爾曼濾波）2、在50厘米到3米的高度內(nèi)進(jìn)行小傾斜角的穩(wěn)定懸停測(cè)試。3、下載flashlog，將以下數(shù)據(jù)繪制在missionplanner中。4、EKF5.meaRng應(yīng)該與設(shè)備高度的變化相關(guān)聯(lián)。5、OF.flowX和OF.flowY應(yīng)該時(shí)刻變化。6、OF.bodyX、OF.bodyY應(yīng)該和IMU.GyrX、IMU.GyrY相一致Part12SecondFlight(Copteronly)WarningYouwillneedatleast15mofclearspacearoundthevehicletodothisflightsafely.Iftheopticalflowvelocityestimatesarebad,youwillhavelittlewarningandthecoptermayleantoit’smaximumleanangleveryquickly.你將需要飛行器周?chē)?5m的凈空區(qū)域來(lái)安全地飛行。如果光流傳感器速度估計(jì)不好，幾乎不會(huì)有警告信息，并且飛行器或許很快傾斜至最大角度。Part12SecondFlight(Copteronly)1.SettheEKF_GPS_TYPEparameterto3tomaketheEK