由于低成本的惯性测量单元存在较大漂移,四旋翼飞行器难以稳定地悬停在固定区域,基于此,提出了一种基于光流传感器的四旋翼飞行器悬停校正方法。将光流传感器安装在四旋翼飞行器底部,利用光流信息检测四旋翼飞行器相对地面的水平移动速度,对姿态估计进行补偿,实现悬停校正。试验结果表明:该方法能够有效地提高四旋翼飞行器的悬停稳定性,从而保证飞行器能够执行战场侦察、校正射击、干扰敌人等多种军事任务。 Due to the large drift of the low cost inertial measurement unit, it is difficult for the quadrotor to stably stay in the fixed area. Based on the above, a quadrotorcraft hovering method based on the optical flow sensor is proposed. The optical flow sensor is installed on the bottom of the quadrotor. The horizontal moving velocity of the quadrotor with respect to the ground is detected by the optical flow information, and the attitude estimation is compensated to achieve the hovering correction. The experimental results show that this method can effectively improve the hovering stability of the four-rotor aircraft, and thus ensure that the aircraft can perform various military tasks such as battlefield reconnaissance, shooting correction and interference with the enemy.