Abstract: Aiming at the problem of inaccurate hovering control of quadrotor aircraft, this paper puts forward a kind of method of hovering control of quadrotor aircraft based on Variance of Difference（VOD） block matching criterion. A master control platform of aircraft based on STM32F407 is designed, and the optical flow sensor is based on PX4FLOW. In order to speed up the computation of the optical flow field, VOD block matching criterion is applied to the computation of the continuous frame optical flow field. In the end, adopting the incremental PID（Proportion Integration Differentiation） control algorithm, it achieves the accurate hovering control. The experimental results show that this method can improve the hovering stability of the quadrotor aircraft, and the control range of horizontal direction is between±10 cm. The computation is comparatively simple, and can meet the actual needs.

Key words: optical flow sensor, Variance of Difference（VOD） block, optical flow field, Proportion Integration Differentiation（PID） control

摘要： 针对四旋翼飞行器悬停控制不准确的问题，提出一种基于光流传感器的四旋翼飞行器悬停控制方法。设计了一种基于STM32F407为核心的飞行器主控平台，其中光流传感器模块采用PX4FLOW；为加快计算图像光流场的速度，将VOD（Variance of Difference）块匹配准则的SEA算法应用到采集到的连续帧间图像光流场的计算上；最后采用增量式PID（Proportion Integration Differentiation）控制算法以达到比较精确的悬停控制。实验结果表明：该方法能够有效地提高四旋翼飞行器的悬停稳定性，悬停时在水平方向的控制范围在±10?cm之间，且计算相对简单，能满足实际需求。

关键词: 光流传感器, VOD块, 光流场, PID控制