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.

multi-rotor aircraft  /  visual navigation  /  ROS  /  autonomous flight