{"id":720,"date":"2022-11-15T13:20:46","date_gmt":"2022-11-15T05:20:46","guid":{"rendered":"http:\/\/www.visbot.com.cn\/?p=720"},"modified":"2024-02-19T12:51:42","modified_gmt":"2024-02-19T04:51:42","slug":"mao-tou-ying-owl-yong-hu-shou-ce-v1","status":"publish","type":"post","link":"http:\/\/support.visbot.com.cn\/index.php\/2022\/11\/15\/mao-tou-ying-owl-yong-hu-shou-ce-v1\/","title":{"rendered":"\u732b\u5934\u9e70\uff08OWL\uff09 \u7528\u6237\u624b\u518cv1.0"},"content":{"rendered":"\n<h1>1.&nbsp;\u4f7f\u7528\u524d\u7684\u51c6\u5907<\/h1>\n\n\n\n<h2>1.1&nbsp;\u4ea7\u54c1\u4ecb\u7ecd<\/h2>\n\n\n\n<p>\u732b\u5934\u9e70AI\u89c6\u89c9\u65e0\u4eba\u673a\uff08\u4ee5\u4e0b\u7b80\u79f0OWL\uff09\u662f\u4e13\u4e3a\u79d1\u7814\u5de5\u4f5c\u8005\u4e0e\u822a\u7a7a\u5668\u5f00\u53d1\u8005\u6253\u9020\u7684\u5c0f\u578b\u5316\u65e0\u4eba\u673a\u5f00\u53d1\u5e73\u53f0\uff0c\u5176\u642d\u8f7dVisBot\u89c6\u89c9\u6a21\u5757\uff0c\u9002\u7528\u4e8e\u65e0GPS\u73af\u5883\u4e0b\u57fa\u4e8e\u89c6\u89c9\u7684\u65e0\u4eba\u673a\u5b9a\u4f4d\/\u5bfc\u822a\/\u907f\u969c\u7b97\u6cd5\u7684\u9a8c\u8bc1\u4e0e\u5f00\u53d1\uff0c\u4ee5\u53ca\u5ba4\u5185\u65e0\u4eba\u673a\u7ec4\u7f51\u7f16\u961f\u7684\u7814\u7a76\u3002\u89c6\u89c9\u5b9a\u4f4d\u662f\u901a\u8fc7\u878d\u5408\u53cc\u76ee\u89c6\u89c9(Stereo Camera)\u4f20\u611f\u5668\u7684\u53cc\u76ee\u56fe\u50cf\uff0c\u548c\u60ef\u6027\u5bfc\u822a\u6a21\u5757(IMU)\u76846\u8f74\u6570\u636e\uff0c\u5b9e\u73b0\u7684VIO\u7b97\u6cd5\uff08Vins-Fusion\uff09\u3002\u907f\u969c\u529f\u80fd\u662f\u57fa\u4e8e\u89c6\u89c9\u5b9a\u4f4d\u7ed3\u679c\uff08VIO Pose\uff09\uff0c\u548c\u53cc\u76ee\u4ea7\u751f\u7684\u6df1\u5ea6\u56fe\uff08Depth\uff09\uff0c\u5b9e\u65f6\u751f\u6210\u5730\u56fe\u548c\u8def\u5f84\u89c4\u5212\u7684\u907f\u969c\u7b97\u6cd5\uff08EGO-Planner\uff09\u3002<gwmw style=\"display:none;\"><\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/quicker_9ca4d83d-bdba-4652-804c-ee144baa160c.png\" alt=\"\" class=\"wp-image-721\" width=\"541\" height=\"268\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/quicker_9ca4d83d-bdba-4652-804c-ee144baa160c.png 378w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/quicker_9ca4d83d-bdba-4652-804c-ee144baa160c-300x148.png 300w\" sizes=\"(max-width: 541px) 100vw, 541px\" \/><\/figure><\/div>\n\n\n<p><strong>OWL<\/strong><strong>\u5177\u4f53\u5b9e\u73b0\u7684\u8f6f\u786c\u4ef6\u8bf4\u660e\u5982\u4e0b\uff1a<\/strong><strong><\/strong><\/p>\n\n\n\n<ul><li>\u53cc\u76ee\u89c6\u89c9\uff1a\u81ea\u4e3b\u7814\u53d1\u751f\u4ea7\u7684\u53cc\u76ee\u6a21\u7ec4\uff08OV7251\uff09, \u63d0\u4f9b10-60fps\u7684640&#215;480\u5206\u8fa8\u7387\u7684\u53cc\u76ee\u56fe\u50cf\uff1b<\/li><li>\u6df1\u5ea6\u56fe\uff1a\u81ea\u4e3b\u7684\u53cc\u76ee\u5339\u914d\u7b97\u6cd5\u751f\u6210\u7684\u6df1\u5ea6\u56fe\u3002\u76ee\u524d\u5728Khadas VIM3\u5e73\u53f0\u4e0a\u63d0\u4f9b10-15fps\uff0c640&#215;480\u5206\u8fa8\u7387\u7684\u6df1\u5ea6\u56fe\uff1b<\/li><li>IMU\uff1aOWL\u98de\u63a7\u6a21\u5757\u81ea\u5e26\u7684IMU\u4f20\u611f\u5668\uff0c\u63d0\u4f9b200Hz\u76846\u8f74IMU\u6570\u636e\u3002<\/li><li>VIO\u7b97\u6cd5\uff1a\u57fa\u4e8eVINS-Fusion\u5f00\u6e90\u7b97\u6cd5\uff0c\u4f18\u5316\u540c\u6b65\u5f00\u6e90\uff1b<\/li><\/ul>\n\n\n\n<p><a href=\"https:\/\/github.com\/HKUST-Aerial-Robotics\/VINS-Fusion\">https:\/\/github.com\/HKUST-Aerial-Robotics\/VINS-Fusion<\/a><\/p>\n\n\n\n<ul><li>EGO-Planner\u7b97\u6cd5\uff1a\u57fa\u4e8eEGO-Planner\u7684\u5f00\u6e90\u7b97\u6cd5\uff0c\u4f18\u5316\u540e\u540c\u6b65\u5f00\u6e90\uff1b<\/li><\/ul>\n\n\n\n<p><a href=\"https:\/\/github.com\/ZJU-FAST-Lab\/ego-planner\">https:\/\/github.com\/ZJU-FAST-Lab\/ego-planner<\/a><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/p>\n\n\n\n<ul><li>Khadas VIM3\u673a\u8f7d\u5e73\u53f0\uff1aKhadas VIM3\u673a\u8f7d\u5e73\u53f0\u63d0\u4f9b6\u6838CPU\u548c5TOPS\u7684NPU\u3002\u5177\u4f53\u53c2\u89c1<a href=\"https:\/\/www.khadas.cn\/vim3\">https:\/\/www.khadas.cn\/vim3<\/a><\/li><\/ul>\n\n\n\n<p>\u4ea7\u54c1\u4e3b\u8981\u89c4\u683c\u53c2\u6570\u5982\u88681.1\u6240\u793a\u3002<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/p>\n\n\n\n<div class=\"wp-container-1 wp-block-group\"><div class=\"wp-block-group__inner-container\">\n<figure class=\"wp-block-table\"><table><tbody><tr><td><strong>\u957f\u5ea6<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><\/gwmw><gwmw style=\"display:none;\"><\/td><td>300 mm\uff08\u4e0d\u542b\u6868\u53f6\u4fdd\u62a4\u7f69\uff09<\/td><\/tr><tr><td><strong>\u5bbd\u5ea6<\/strong><gwmw style=\"display:none;\"><\/gwmw><\/td><td>300 mm\uff08\u4e0d\u542b\u6868\u53f6\u4fdd\u62a4\u7f69\uff09<\/td><\/tr><tr><td><strong>\u5bf9\u89d2\u8f74\u8ddd<\/strong><strong><\/strong><\/td><td>380 mm<\/td><\/tr><tr><td><strong>\u6700\u5927\u98de\u884c\u901f\u5ea6<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><\/gwmw><\/td><\/tr><tr><td><strong>\u6c34\u5e73<\/strong><gwmw style=\"display:none;\"><\/gwmw><\/td><td>15 m\/s<\/td><\/tr><tr><td><strong>\u4e0a\u5347<\/strong><strong><\/strong><\/td><td>5 m\/s<\/td><\/tr><tr><td><strong>\u4e0b\u964d<\/strong><strong><\/strong><\/td><td>4 m\/s<\/td><\/tr><tr><td><strong>\u6700\u5927\u7eed\u822a\u65f6\u95f4<\/strong><strong><\/strong><\/td><td>12 min<\/td><\/tr><tr><td><strong>\u8d77\u98de\u91cd\u91cf<\/strong><strong><\/strong><\/td><td>1520 g\uff08\u542b\u6868\u53f6\u4fdd\u62a4\u7f69\uff09<\/td><\/tr><tr><td><strong>\u6297\u98ce\u7b49\u7ea7<\/strong><strong><\/strong><\/td><td>4 \u7ea7<\/td><\/tr><\/tbody><\/table><figcaption><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><\/gwmw><\/figcaption><\/figure>\n<\/div><\/div>\n\n\n\n<p><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/p>\n\n\n\n<h2>1.2&nbsp;\u7269\u54c1\u6e05\u5355<\/h2>\n\n\n\n<p>\u4ea7\u54c1\u4ee5\u6574\u673a\u7684\u5f62\u5f0f\u4ea4\u4ed8\u3002\u7528\u6237\u5728\u6536\u5230\u8d27\u7269\u540e\uff0c\u8bf7\u68c0\u67e5\u5305\u88c5\u5185\u7684\u8bbe\u5907\u53ca\u914d\u4ef6\u662f\u5426\u4e0e\u6e05\u5355\u76f8\u7b26\u3002\u65e0\u4eba\u673a\u6574\u673a\u5f00\u53d1\u5e73\u53f0\u5982\u56fe1.1\u6240\u793a\uff0c<a>\u7269\u54c1\u6e05\u5355\u5982\u8868<\/a>1.2\u6240\u793a\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/quicker_dd9aee9d-55c9-40c6-97f1-ad450a110ab7.png\" alt=\"\" class=\"wp-image-722\" width=\"525\" height=\"301\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/quicker_dd9aee9d-55c9-40c6-97f1-ad450a110ab7.png 378w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/quicker_dd9aee9d-55c9-40c6-97f1-ad450a110ab7-300x172.png 300w\" sizes=\"(max-width: 525px) 100vw, 525px\" \/><figcaption><strong>\u56fe1.1 \u65e0\u4eba\u673a\u6574\u673a\u5f00\u53d1\u5e73\u53f0<\/strong><\/figcaption><\/figure><\/div>\n\n\n<p><\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><strong>\u7269\u54c1\u540d\u79f0<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/td><td><strong>\u578b\u53f7\u53ca\u89c4\u683c<\/strong><strong><\/strong><\/td><td><strong>\u6570\u91cf<\/strong><strong><\/strong><\/td><td><strong>\u5907\u6ce8<\/strong><gwmw style=\"display:none;\"><\/gwmw><\/td><\/tr><tr><td><strong>\u65e0\u4eba\u673a\u98de\u884c\u5e73\u53f0<\/strong><strong><\/strong><\/td><td>OWL<gwmw style=\"display:none;\"><\/td><td>1<\/td><td><\/td><\/tr><tr><td><strong>AI<\/strong><strong>\u673a\u5668\u89c6\u89c9\u5e73\u53f0<\/strong><strong><\/strong><\/td><td>VisBot<\/td><td>1<\/td><td>\u673a\u8f7d\u5b89\u88c5<\/td><\/tr><tr><td><strong>\u9065\u63a7\u5668<\/strong><strong><\/strong><\/td><td>I6X<\/td><td>1<\/td><td>8\u901a\u9053<\/td><\/tr><tr><td><strong>\u52a8\u529b\u7535\u6c60<\/strong><strong><\/strong><\/td><td>5300mAh\/4S\/45C<\/td><td>1<\/td><td>\u4f7f\u7528\u65f6\u7535\u538b\u4e0d\u5f97\u4f4e\u4e8e14.8V<\/td><\/tr><tr><td><strong>\u87ba\u65cb\u6868<\/strong><strong><\/strong><\/td><td>9450<\/td><td>4<\/td><td>2\u6b632\u53cd<\/td><\/tr><tr><td><strong>\u5e73\u8861\u5145\u7535\u5668<\/strong><strong><\/strong><\/td><td>ZT-B3<\/td><td>1<\/td><td><\/td><\/tr><tr><td><strong>\u5145\u7535\u5668\u9002\u914d\u5668<\/strong><strong><\/strong><\/td><td>12V<\/td><td>1<\/td><td>&nbsp;<\/td><\/tr><tr><td><strong>\u5de5\u5177<\/strong><strong>\/<\/strong><strong>\u914d\u4ef6\u5305<\/strong><strong><\/strong><\/td><td>\/<\/td><td>1<\/td><td><\/td><\/tr><tr><td><strong>\u6570\u636e\u7ebf<\/strong><strong><\/strong><\/td><td>MICRO_USB<\/td><td>1<\/td><td>\u98de\u63a7\u8c03\u53c2\u4f7f\u7528<\/td><\/tr><tr><td><strong>\u7535\u6c60\u7535\u538b\u68c0\u6d4b\u6a21\u5757<\/strong><strong><\/strong><\/td><td>\/<\/td><td>1<\/td><td>\u7528\u4e8e\u6d4b\u91cf\u7535\u6c60\u7535\u538b<\/td><\/tr><tr><td><strong>\u673a\u4f53\u4fdd\u62a4\u7f69<\/strong><strong><\/strong><\/td><td>\/<\/td><td>4<\/td><td>\u9ed8\u8ba4\u4e0d\u5b89\u88c5<\/td><\/tr><tr><td><strong>\u7528\u6237\u624b\u518c<\/strong><strong><\/strong><\/td><td>\/<\/td><td>1<\/td><td>\u7535\u5b50\u7248\u6216\u7eb8\u8d28\u7248<\/td><\/tr><tr><td><strong>\u514d\u8d23\u58f0\u660e<\/strong><strong><\/strong><\/td><td>\/<\/td><td>1<\/td><td><\/td><\/tr><tr><td><strong>\u98de\u884c\u5b89\u5168\u6307\u5f15<\/strong><strong><\/strong><\/td><td>\/<\/td><td>1<\/td><td><\/td><\/tr><tr><td><strong>\u5408\u683c\u8bc1<\/strong><strong><\/strong><\/td><td>\/<\/td><td>1<\/td><td><\/td><\/tr><tr><td><strong>\u822a\u7a7a\u94dd\u5305\u88c5\u7bb1<\/strong><strong><\/strong><\/td><td>\/<\/td><td>1<\/td><td><\/td><\/tr><\/tbody><\/table><figcaption>\u88681.2 \u7269\u54c1\u6e05\u5355<gwmw style=\"display:none;\"><\/gwmw><\/figcaption><\/figure>\n\n\n\n<p>\u5982\u679c\u60a8\u9009\u914d\u4e86\u53ef\u9009\u914d\u4ef6\uff0c\u4e5f\u9700\u8981\u68c0\u67e5\u53ef\u9009\u914d\u4ef6\u662f\u5426\u9f50\u5168\u3002\u4e3b\u8981\u53ef\u9009\u914d\u4ef6\u5982\u88681.3\u6240\u793a\u3002<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><\/gwmw><\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td><strong>\u7269\u54c1\u540d\u79f0<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/td><td><strong>\u578b\u53f7\u53ca\u89c4\u683c<\/strong><strong><\/strong><\/td><td><strong>\u6570\u91cf<\/strong><strong><\/strong><\/td><td><strong>\u5907\u6ce8<\/strong><strong><\/strong><\/td><\/tr><tr><td><strong>\u5907\u7528\u7535\u6c60<\/strong><strong><\/strong><\/td><td>5300mAh\/4S<\/td><td>1<\/td><td><\/td><\/tr><tr><td><strong>GPS<\/strong><strong>\u6a21\u5757<\/strong><strong><\/strong><\/td><td>GPS_M8N<\/td><td>1<\/td><td><\/td><\/tr><tr><td><strong>GPS<\/strong><strong>\u652f\u67b6<\/strong><strong><\/strong><\/td><td>\/<\/td><td>1<\/td><td><\/td><\/tr><tr><td><strong>\u6570\u4f20\u6a21\u5757<\/strong><strong><\/strong><\/td><td>915 MHz<\/td><td>1<\/td><td><\/td><\/tr><tr><td><strong>\u5176\u4ed6\u4f20\u611f\u5668\u6a21\u5757<\/strong><strong><\/strong><\/td><td>\/<\/td><td>1<\/td><td><\/td><\/tr><\/tbody><\/table><figcaption><strong>\u88681.3 \u53ef\u9009\u914d\u4ef6<\/strong><gwmw style=\"display:none;\"><\/figcaption><\/figure>\n\n\n\n<h2>1.3 \u98de\u884c\u5b89\u5168\u6307\u5f15<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/h2>\n\n\n\n<p>\u98de\u884c\u5b89\u5168\u6307\u5f15\u65e8\u5728\u5e2e\u52a9\u98de\u624b\u6811\u7acb\u5b89\u5168\u610f\u8bc6\uff0c\u60a8\u53ef\u901a\u8fc7\u67e5\u770b\u57fa\u672c\u98de\u884c\u5b89\u5168\u63d0\u793a\uff0c\u5728\u5408\u6cd5\u8303\u56f4\u5185\u4eab\u53d7\u5b89\u5168\u7684\u98de\u884c\u4e50\u8da3\u3002\u65e0\u4eba\u673a\u98de\u884c\u5b58\u5728\u4e00\u5b9a\u7684\u98ce\u9669\uff0c\u5efa\u8bae\u98de\u884c\u524d\u8ba4\u771f\u4e86\u89e3\u65e0\u4eba\u673a\u53c2\u6570\u3001\u6027\u80fd\u548c\u53ef\u80fd\u4f1a\u51fa\u73b0\u7684\u5404\u79cd\u60c5\u51b5\uff0c\u505a\u597d\u76f8\u5e94\u7684\u5e94\u5bf9\u63aa\u65bd\uff0c\u8bd5\u98de\u65f6\u8bf7\u52a1\u5fc5\u5728\u8fdc\u79bb\u4eba\u7fa4\u3001\u5371\u9669\u7269\u54c1\u548c\u6613\u788e\u7269\u54c1\u7684\u7a7a\u65f7\u533a\u57df\u8fdb\u884c\u3002<\/p>\n\n\n\n<div class=\"wp-container-3 wp-block-group\" style=\"font-size:17px\"><div class=\"wp-block-group__inner-container\">\n<div class=\"wp-container-2 wp-block-group\"><div class=\"wp-block-group__inner-container\">\n<ul><li><strong>\u52a1\u5fc5\u6309\u7167\u7528\u6237\u624b\u518c\u8fdb\u884c\u64cd\u4f5c<\/strong><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\u8bf7\u52a1\u5fc5\u6309\u7167\u7528\u6237\u624b\u518c\u8fdb\u884c\u64cd\u4f5c\uff0c\u4ee5\u514d\u9020\u6210\u4e0d\u5fc5\u8981\u7684\u5371\u9669\u548c\u635f\u5931\u3002<gwmw style=\"display:none;\"><\/td><\/tr><\/tbody><\/table><figcaption><gwmw style=\"display:none;\"><\/gwmw><\/figcaption><\/figure>\n\n\n\n<ul><li><strong>\u8bf7\u9075\u5b88\u5f53\u5730\u6cd5\u5f8b<\/strong><strong><\/strong><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\u8bf7\u7559\u610f\u5f53\u5730\u5173\u4e8e\u65e0\u4eba\u673a\u98de\u884c\u548c\u4f7f\u7528\u7684\u76f8\u5173\u6cd5\u5f8b\u6cd5\u89c4\u5e76\u4e25\u683c\u9075\u5b88\u3002\u4e25\u7981\u5728\u4efb\u4f55\u7981\u98de\u533a\u548c\u5371\u9669\u533a\u57df\u5185\u98de\u884c\u6216\u8d85\u8fc7\u9650\u5236\u9ad8\u5ea6\u98de\u884c\u3002<gwmw style=\"display:none;\"><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<ul><li><strong>\u7535\u6c14\u5b89\u5168\u6027<\/strong><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\u4e3a\u4e86\u907f\u514d\u53ef\u80fd\u7684\u7535\u51fb\u9020\u6210\u7684\u635f\u574f\uff0c\u5728\u5b89\u88c5\u3001\u62c6\u5378\u6216\u8005\u66f4\u6362\u4efb\u4f55\u90e8\u4ef6\u65f6\u8bf7\u52a1\u5fc5\u65ad\u5f00\u7535\u6e90\uff0c\u52a1\u5fc5\u786e\u4fdd\u6240\u6709\u7535\u6e90\u7ebf\u3001\u6570\u636e\u7ebf\u8fde\u63a5\u59a5\u5f53\u540e\u624d\u53ef\u4ee5\u901a\u7535\u6d4b\u8bd5\u3002<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<ul><li><strong>\u6d88\u9664\u9759\u7535\u5f71\u54cd<\/strong><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\u62ff\u53d6\u5143\u4ef6\u65f6\u6ce8\u610f\u6d88\u9664\u8eab\u4e0a\u7684\u9759\u7535\uff0c\u5c3d\u91cf\u4e0d\u8981\u76f4\u63a5\u7528\u624b\u63a5\u89e6\u82af\u7247\uff1b\u4e3a\u907f\u514d\u53ef\u80fd\u7684\u5e72\u6270\uff0c\u8bf7\u4fdd\u6301\u6570\u636e\u7ebf\u3001\u7535\u6e90\u7ebf\u6574\u9f50\u4e14\u5bb9\u6613\u8fa8\u8bc6\u3002<gwmw style=\"display:none;\"><\/td><\/tr><\/tbody><\/table><figcaption><gwmw style=\"display:none;\"><\/gwmw><\/figcaption><\/figure>\n\n\n\n<ul><li><strong>\u5b89\u88c5\u7262\u9760\u4fdd\u5b58\u59a5\u5f53<\/strong><strong><\/strong><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\u4f7f\u7528\u4ea7\u54c1\u524d\u8bf7\u4ed4\u7ec6\u68c0\u67e5\u5404\u90e8\u4ef6\u662f\u5426\u5b89\u88c5\u5230\u4f4d\uff0c\u6682\u65f6\u7528\u4e0d\u5230\u7684\u90e8\u4ef6\u662f\u5426\u53d6\u4e0b\u5e76\u59a5\u5584\u4fdd\u5b58\uff0c\u4ee5\u514d\u96f6\u4ef6\u5728\u79fb\u52a8\u65e0\u4eba\u673a\u6216\u98de\u884c\u65f6\u8131\u843d\u3002<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<ul><li><strong>\u8c03\u8bd5\u53ca\u6821\u51c6\u8fc7\u7a0b\u4e2d\u4e0d\u8981\u5b89\u88c5\u87ba\u65cb\u6868<\/strong><strong><\/strong><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\u8c03\u8bd5\u4ee5\u53ca\u6821\u51c6\u8fc7\u7a0b\u4e2d\u4e00\u5b9a\u4e0d\u8981\u5b89\u88c5\u87ba\u65cb\u6868\uff0c\u4ee5\u514d\u9020\u6210\u4e0d\u5fc5\u8981\u7684\u4eba\u8eab\u4f24\u5bb3\u6216\u8d22\u4ea7\u635f\u5931\u3002<gwmw style=\"display:none;\"><\/td><\/tr><\/tbody><\/table><figcaption><gwmw style=\"display:none;\"><\/gwmw><\/figcaption><\/figure>\n\n\n\n<ul><li><strong>\u98de\u884c\u524d\u8bf7\u68c0\u67e5\u65e0\u4eba\u673a\u72b6\u51b5<\/strong><strong><\/strong><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\u98de\u884c\u4e4b\u524d\u8bf7\u4ed4\u7ec6\u68c0\u67e5\u87ba\u65cb\u6868\u662f\u5426\u635f\u574f\u3001\u8001\u5316\uff0c\u7535\u6c60\u53ca\u5176\u4ed6\u90e8\u4ef6\u662f\u5426\u5b89\u88c5\u7262\u56fa\uff0c\u5982\u6709\u635f\u574f\u5e94\u53ca\u65f6\u66f4\u6362\u6216\u7ef4\u4fee\u3002\u786e\u4fdd\u60a8\u7684\u65e0\u4eba\u673a\u3001\u9065\u63a7\u5668\u53ca\u5176\u4ed6\u8bbe\u5907\u7535\u91cf\u5145\u8db3\u3002<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<ul><li><strong>\u4fdd\u8bc1\u5408\u9002\u7684\u6e29\u5ea6<\/strong><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\u8bbe\u5907\u5145\u7535\u53ca\u5de5\u4f5c\u65f6\u8bf7\u4fdd\u8bc1\u73af\u5883\u6e29\u5ea6\u5728\u5141\u8bb8\u8303\u56f4\u5185\u3002<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<ul><li><strong>\u4e0d\u8981\u5728\u6076\u52a3\u5929\u6c14\u4e2d\u98de\u884c<\/strong><strong><\/strong><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\u907f\u514d\u5728\u9ad8\u6e29\u3001\u9ad8\u6e7f\u3001\u5f3a\u78c1\u573a\u3001\u5f3a\u8f90\u5c04\u3001\u5f3a\u7070\u5c18\u7b49\u6781\u7aef\u60c5\u51b5\u4e0b\u4f7f\u7528\uff0c\u540c\u65f6\u907f\u514d\u5728\u96e8\u96ea\u3001\u51b0\u96f9\u3001\u5927\u96fe\u3001\u5927\u98ce\u7b49\u6076\u52a3\u6c14\u8c61\u6761\u4ef6\u4e0b\u4f7f\u7528\u3002<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<ul><li><strong>\u8bf7\u9009\u62e9\u5f00\u9614\u7a7a\u65f7\u7684\u98de\u884c\u573a\u5730<\/strong><strong><\/strong><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\u98de\u884c\u65f6\u8bf7\u8fdc\u79bb\u4eba\u7fa4\u3001\u5efa\u7b51\u7269\u5e76\u786e\u4fdd\u5468\u56f4\u6ca1\u6709\u5176\u4ed6\u4efb\u4f55\u65e0\u4eba\u673a\u8bd5\u98de\u6216\u6b63\u5e38\u98de\u884c\u3002<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<ul><li><strong>\u8bbe\u7acb\u8b66\u793a\u6807\u5fd7<\/strong><strong><\/strong><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\u5982\u6709\u5fc5\u8981\u8bf7\u5728\u8bd5\u98de\u533a\u57df\u5468\u56f4\u8bbe\u7f6e\u8b66\u793a\u6807\u5fd7\uff0c\u4ee5\u514d\u5728\u8bd5\u98de\u8fc7\u7a0b\u4e2d\u6709\u5176\u4ed6\u4eba\u8fdb\u5165\u8fdb\u800c\u53d1\u751f\u5371\u9669\u3002<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<ul><li><strong>\u996e\u9152\u540e\u8bf7\u52ff\u64cd\u63a7\u65e0\u4eba\u673a<\/strong><strong><\/strong><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\u8d77\u98de\u524d\u548c\u64cd\u4f5c\u65e0\u4eba\u673a\u65f6\u8bf7\u52ff\u996e\u7528\u542b\u6709\u9152\u7cbe\u6210\u5206\u7684\u996e\u6599\u53ca\u53e3\u670d\u836f\u5242\u6216\u98df\u7528\u5176\u4ed6\u5f71\u54cd\u7cbe\u795e\u72b6\u6001\u7684\u98df\u54c1\u6216\u836f\u54c1\u3002<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<ul><li><strong>\u5728\u5408\u7406\u8303\u56f4\u5185\u98de\u884c<\/strong><strong><\/strong><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\u8bf7\u52ff\u8d85\u8fc7\u5b89\u5168\u98de\u884c\u9ad8\u5ea6\u4e14\u5728\u89c6\u8ddd\u8303\u56f4\u5185\u98de\u884c\uff0c\u98de\u884c\u8fc7\u7a0b\u4e2d\u786e\u4fdd\u65e0\u4eba\u673a\u5728\u60a8\u7684\u89c6\u7ebf\u8303\u56f4\u4e4b\u5185\uff0c\u5c3d\u91cf\u4e0d\u8981\u5728\u6ca1\u6709\u5730\u9762\u7ad9\u6216\u4e0d\u80fd\u5b9e\u65f6\u5b9a\u4f4d\u7684\u60c5\u51b5\u4e0b\u5728\u969c\u788d\u7269\u80cc\u9762\u6216\u8005\u65e0\u6cd5\u76f4\u89c6\u7684\u4f4d\u7f6e\u98de\u884c\u3002<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<ul><li><strong>\u83b7\u53d6\u5b9a\u4f4d\u4fe1\u53f7\u540e\u518d\u8d77\u98de<\/strong><strong><\/strong><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\u8bf7\u5728\u53d6\u5f97\u536b\u661f\u5b9a\u4f4d\u4fe1\u53f7\u540e\u518d\u8d77\u98de\uff0c\u5e76\u5c3d\u53ef\u80fd\u5229\u7528\u5b89\u5168\u98de\u884c\u529f\u80fd\u5982\u81ea\u52a8\u8fd4\u822a\u3001\u5b9a\u70b9\u60ac\u505c\u7b49\u3002<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<ul><li><strong>\u65f6\u523b\u4fdd\u6301\u5bf9\u65e0\u4eba\u673a\u7684\u63a7\u5236<\/strong><strong><\/strong><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\u98de\u884c\u8fc7\u7a0b\u4e2d\u5373\u4fbf\u5728\u4f7f\u7528\u81ea\u52a8\u529f\u80fd\u65f6\uff0c\u5982\u81ea\u52a8\u8d77\u98de\u3001\u81ea\u52a8\u964d\u843d\u7b49\uff0c\u53cc\u624b\u4e5f\u4e0d\u8981\u79bb\u5f00\u9065\u63a7\u5668\uff0c\u59cb\u7ec8\u4fdd\u6301\u5bf9\u65e0\u4eba\u673a\u63a7\u5236\u3002<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<ul><li><strong>\u4e0d\u8981\u7528\u624b\u89e6\u78b0\u65cb\u8f6c\u7684\u87ba\u65cb\u6868<\/strong><strong><\/strong><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\u65e0\u4eba\u673a\u7740\u9646\u540e\uff0c\u5728\u87ba\u65cb\u6868\u505c\u6b62\u8f6c\u52a8\u4e4b\u524d\uff0c\u5207\u52ff\u7528\u624b\u89e6\u78b0\uff0c\u4ee5\u514d\u53d7\u4f24\u3002\u7740\u9646\u65f6\u8bf7\u6162\u6162\u964d\u4f4e\u6cb9\u95e8\uff0c\u4ee5\u514d\u65e0\u4eba\u673a\u5931\u63a7\u5760\u843d\u3002<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<ul><li><strong>\u53ca\u65f6\u4e0a\u9501<\/strong><strong><\/strong><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\u65e0\u4eba\u673a\u7740\u9646\u540e\uff0c\u52a1\u5fc5\u5c06\u65e0\u4eba\u673a\u4e0a\u9501\uff0c\u4ee5\u514d\u8bef\u64cd\u4f5c\u53d1\u751f\u4e8b\u6545\u3002<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<ul><li><strong>\u73af\u5883\u4fdd\u62a4<\/strong><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>\u7535\u8def\u677f\u3001\u7535\u6c60\u548c\u5851\u6599\u90e8\u4ef6\u53ef\u80fd\u542b\u6709\u6c5e\u3001\u9549\u3001\u94c5\u7b49\u7269\u8d28\uff0c\u8bf7\u52ff\u968f\u751f\u6d3b\u5783\u573e\u4e22\u5f03\u3002<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/td><\/tr><\/tbody><\/table><\/figure>\n<\/div><\/div>\n<\/div><\/div>\n\n\n\n<p>\u83b7\u53d6\u66f4\u591a\u5185\u5bb9\u8bf7\u767b\u9646<a href=\"http:\/\/www.caac.gov.cn\/\">\u4e2d\u56fd\u6c11\u7528\u822a\u7a7a\u5c40<\/a>\u7f51\u7ad9http:\/\/www.caac.gov.cn\/\u3002<\/p>\n\n\n\n<h2>1.4&nbsp;\u514d\u8d23\u58f0\u660e<\/h2>\n\n\n\n<p>\u8bf7\u7528\u6237\u5728\u4f7f\u7528\u672c\u4ea7\u54c1\u524d\uff0c\u52a1\u5fc5\u4ed4\u7ec6\u9605\u8bfb\u672c\u58f0\u660e\u76f8\u5173\u6761\u6b3e\uff0c\u4e00\u65e6\u4f7f\u7528\u672c\u4ea7\u54c1\uff0c\u5373\u89c6\u4e3a\u5bf9\u672c\u58f0\u660e\u7684\u6240\u6709\u5185\u5bb9\u8868\u793a\u8ba4\u53ef\u548c\u63a5\u53d7\u3002<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/p>\n\n\n\n<p>\u672c\u4ea7\u54c1\u9002\u540818\u5468\u5c81\u4ee5\u4e0a\u4eba\u58eb\u4f7f\u7528\uff0c\u672a\u6ee118\u5468\u5c81\u7684\u672a\u6210\u5e74\u4eba\u9700\u8981\u5728\u76d1\u62a4\u4eba\u621618\u5468\u5c81\u4ee5\u4e0a\u6210\u5e74\u4eba\u966a\u540c\u4e0b\u4f7f\u7528\u3002<\/p>\n\n\n\n<p>\u4f7f\u7528\u672c\u4ea7\u54c1\u65f6\uff0c\u82e5\u53d1\u751f\u4ee5\u4e0b\u539f\u56e0\u76f4\u63a5\u6216\u95f4\u63a5\u9020\u6210\u65e0\u4eba\u673a\u5760\u843d\u3001\u649e\u51fb\u6216\u8005\u4ee5\u5176\u4ed6\u65b9\u5f0f\u9020\u6210\u7528\u6237\u672c\u4eba\u6216\u4ed6\u4eba\u7684\u4eba\u8eab\u4f24\u5bb3\u548c\u8d22\u4ea7\u635f\u5931\uff0c\u6211\u516c\u53f8\u5c06\u4e0d\u627f\u62c5\u8d54\u507f\u8d23\u4efb\u3002<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><\/gwmw><gwmw style=\"display:none;\"><\/p>\n\n\n\n<blockquote class=\"wp-block-quote\"><p><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/p><cite>A.\u7528\u6237\u6ca1\u6709\u6309\u7167\u672c\u624b\u518c\u7684\u8981\u6c42\u7ec4\u88c5\u548c\u4f7f\u7528\u9020\u6210\u4eba\u8eab\u4f24\u5bb3\u548c\u8d22\u4ea7\u635f\u5931\uff1b<br>B.\u7528\u6237\u4e3b\u52a8\u6216\u6545\u610f\u64cd\u63a7\u65e0\u4eba\u673a\u9020\u6210\u4eba\u8eab\u4f24\u5bb3\u548c\u8d22\u4ea7\u635f\u5931\uff1b<br>C.\u7528\u6237\u64cd\u4f5c\u6216\u4e3b\u89c2\u5224\u65ad\u5931\u8bef\u9020\u6210\u4eba\u8eab\u4f24\u5bb3\u548c\u8d22\u4ea7\u635f\u5931\uff1b<br>D.\u7528\u6237\u5728\u65e0\u4eba\u673a\u81ea\u7136\u78e8\u635f\u3001\u8001\u5316\u7684\u60c5\u51b5\u4e0b\u4ecd\u7136\u64cd\u63a7\u65e0\u4eba\u673a\u98de\u884c\u9020\u6210\u4eba\u8eab\u4f24\u5bb3\u548c\u8d22\u4ea7\u635f\u5931\uff1b<br>E.\u7528\u6237\u5728\u65e0\u4eba\u673a\u548c\u5176\u4ed6\u8bbe\u5907\u7535\u91cf\u4e0d\u8db3\u65f6\u4e0b\u4ecd\u64cd\u63a7\u65e0\u4eba\u673a\u98de\u884c\u9020\u6210\u4eba\u8eab\u4f24\u5bb3\u6216\u8d22\u4ea7\u635f\u5931\uff1b<br>F.\u7528\u6237\u5728\u660e\u77e5\u65e0\u4eba\u673a\u5904\u4e8e\u975e\u6b63\u5e38\u5de5\u4f5c\u72b6\u6001\u4e0b\u4ecd\u64cd\u63a7\u65e0\u4eba\u673a\u98de\u884c\u9020\u6210\u4eba\u8eab\u4f24\u5bb3\u548c\u8d22\u4ea7\u635f\u5931\uff1b<br>G.\u7528\u6237\u5728\u6076\u52a3\u6c14\u8c61\u6761\u4ef6\u6216\u6781\u7aef\u60c5\u51b5\u4e0b\u4ecd\u7136\u64cd\u63a7\u65e0\u4eba\u673a\u98de\u884c\u9020\u6210\u4eba\u8eab\u4f24\u5bb3\u548c\u8d22\u4ea7\u635f\u5931\uff1b<br>H.\u7528\u6237\u5728\u78c1\u573a\u5e72\u6270\u533a\u57df\u3001\u65e0\u7ebf\u7535\u5e72\u6270\u533a\u57df\u98de\u884c\u9020\u6210\u4eba\u8eab\u4f24\u5bb3\u548c\u8d22\u4ea7\u635f\u5931\uff1b<br>I.\u7528\u6237\u5728\u80fd\u89c1\u5ea6\u4e0d\u826f\u3001\u89c6\u7ebf\u53d7\u5230\u906e\u6321\u7684\u60c5\u51b5\u4e0b\u64cd\u63a7\u65e0\u4eba\u673a\u98de\u884c\u9020\u6210\u4eba\u8eab\u4f24\u5bb3\u548c\u8d22\u4ea7\u635f\u5931\uff1b<br>J.\u7528\u6237\u64cd\u63a7\u65e0\u4eba\u673a\u98de\u884c\u95ef\u5165\u4efb\u4f55\u7981\u98de\u533a\u9020\u6210\u4eba\u8eab\u4f24\u5bb3\u548c\u8d22\u4ea7\u635f\u5931\uff1b<br>K.\u7528\u6237\u5bf9\u4ea7\u54c1\u8fdb\u884c\u975e\u6cd5\u6539\u88c5\u540e\u9020\u6210\u4eba\u8eab\u4f24\u5bb3\u548c\u8d22\u4ea7\u635f\u5931\uff1b<br>L.\u65e0\u4eba\u673a\u88ab\u6b66\u5668\u51fb\u4e2d\u3001\u6216\u88ab\u5176\u4ed6\u65e0\u4eba\u673a\u649e\u51fb\u9020\u6210\u635f\u574f\u8fdb\u800c\u9020\u6210\u4eba\u8eab\u4f24\u5bb3\u548c\u8d22\u4ea7\u635f\u5931\uff1b<br>M. 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style=\"display:none;\"><\/p><cite>A.\u7528\u6237\u6545\u610f\u9020\u6210\u635f\u574f\uff1b<br>B.\u7528\u6237\u4e0d\u5177\u5907\u98de\u884c\u7ecf\u9a8c\u6216\u6280\u672f\u6c34\u5e73\u4e0d\u8db3\u5bfc\u81f4\u635f\u574f\uff1b<br>C.\u7528\u6237\u81ea\u884c\u66f4\u6362\u6216\u65e0\u672c\u516c\u53f8\u6807\u8bc6\u7684\u4ea7\u54c1\u548c\u914d\u4ef6\uff1b<br>D.\u4f7f\u7528\u672a\u4ece\u672c\u516c\u53f8\u6216\u6307\u5b9a\u7ecf\u9500\u5546\u5904\u8d2d\u4e70\u7684\u914d\u4ef6;<br>E.\u5916\u58f3\uff0c\u63a5\u63d2\u90e8\u4ef6\u7684\u81ea\u7136\u6d88\u8017\uff0c\u78e8\u635f\u53ca\u8001\u5316\uff1b<br>F.\u4f7f\u7528\u975e\u539f\u88c5\u914d\u4ef6\u4ee5\u53ca\u7535\u6e90\u3001\u7ebf\u6750\u7b49\uff1b<br>G.\u5b89\u88c5\u3001\u64cd\u4f5c\u9519\u8bef\uff0c\u6216\u5728\u975e\u4ea7\u54c1\u6240\u89c4\u5b9a\u4e0b\u7684\u5de5\u4f5c\u73af\u5883\u4e0b\u4f7f\u7528;<br>H.\u5728\u96e8\u96ea\u3001\u51b0\u96f9\u3001\u5927\u96fe\u3001\u5927\u98ce\u7b49\u6076\u52a3\u6c14\u8c61\u6761\u4ef6\u4e0b\u4f7f\u7528\uff1b<br>I.\u5728\u9ad8\u6e29\u3001\u9ad8\u6e7f\u3001\u5f3a\u78c1\u573a\u3001\u5f3a\u8f90\u5c04\u3001\u5f3a\u7070\u5c18\u7b49\u6781\u7aef\u60c5\u51b5\u4e0b\u4f7f\u7528\uff1b<br>J.\u6ee5\u7528\u3001\u8bef\u7528\uff0c\u5305\u62ec\u8d85\u51fa\u5de5\u4f5c\u8d1f\u8377\u4f7f\u7528;<br>K.\u65e0\u4eba\u673a\u88ab\u6b66\u5668\u51fb\u4e2d\u6216\u88ab\u5176\u4ed6\u65e0\u4eba\u673a\u649e\u51fb\u9020\u6210\u635f\u574f\uff1b<br>L.\u4fdd\u7ba1\u4e0d\u5f53\uff08\u6db2\u4f53\u6e17\u5165\u3001\u52a8\u7269\u6495\u54ac\u7b49\uff09\u9020\u6210\u7684\u635f\u574f;<br>M.\u4f7f\u7528\u81ea\u884c\u5f00\u53d1\u7684\u8f6f\u4ef6\u5bfc\u81f4\u4ea7\u54c1\u635f\u574f;<br>N.\u64c5\u81ea\u62c6\u673a\u4fee\u7406\u6216\u8d8a\u6743\u6539\u88c5\u53ca\u975e\u6388\u6743\u7ef4\u4fee\u4eba\u5458\u7ef4\u4fee;<br>O.\u7528\u6237\u6ca1\u6709\u6309\u7167\u7528\u6237\u624b\u518c\u7684\u8981\u6c42\u7ec4\u88c5\u548c\u4f7f\u7528\u3001\u8d85\u51fa\u9650\u5ea6\u7684\u6539\u88c5\uff1b<br>P.\u7528\u6237\u64cd\u4f5c\u5931\u8bef\u3001\u4e3b\u89c2\u5224\u65ad\u5931\u8bef\u9020\u6210\u4ea7\u54c1\u635f\u574f\uff1b<br>Q.\u5929\u707e(\u5305\u62ec\u4f46\u4e0d\u9650\u4e8e\u6c34\u707e\u3001\u706b\u707e\u3001\u5730\u9707\u3001\u96f7\u51fb\u3001\u53f0\u98ce\u7b49)\uff1b<br>R.\u9047\u5230\u5176\u4ed6\u4e0d\u53ef\u6297\u529b\u9020\u6210\u635f\u574f\uff1b<br>S.\u4ea7\u54c1\u88ab\u76d7\uff1b<br>T.\u5176\u4ed6\u4e0d\u5c5e\u4e8e\u5a01\u65af\u535a&amp;\u4e2d\u822a\u6052\u62d3\u8d23\u4efb\u8303\u56f4\u5185\u7684\u60c5\u51b5\u3002<gwmw style=\"display:none;\"><\/gwmw><\/cite><\/blockquote>\n\n\n\n<h1>2\u00a0\u591a\u65cb\u7ffc\u65e0\u4eba\u673a\u57fa\u7840\u77e5\u8bc6<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><\/gwmw><\/gwmw><\/gwmw><gwmw style=\"display:none;\"><\/h1>\n\n\n\n<h2>2.1\u00a0\u00a0\u59ff\u6001\u63a7\u5236\u7684\u539f\u7406<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><\/gwmw><gwmw 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Controller\uff0c\u7b80\u79f0ESC\u3002\u9488\u5bf9\u7535\u673a\u4e0d\u540c\uff0c\u53ef\u5206\u4e3a\u6709\u5237\u7535\u5b50\u8c03\u901f\u5668\u548c\u65e0\u5237\u7535\u5b50\u8c03\u901f\u5668\uff0c\u7535\u5b50\u8c03\u901f\u5668\u7684\u4e3b\u8981\u4f5c\u7528\u5c31\u662f\u5c06\u98de\u884c\u63a7\u5236\u5668\u7684\u63a7\u5236\u4fe1\u53f7\u8f6c\u53d8\u4e3a\u76f8\u5e94\u5927\u5c0f\u7684\u7535\u6d41\uff0c\u4ece\u800c\u6765\u63a7\u5236\u7535\u673a\u7684\u8f6c\u901f\uff0c\u591a\u65cb\u7ffc\u98de\u884c\u5668\u901a\u5e38\u4f7f\u7528\u65e0\u5237\u7535\u8c03\u3002<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/p>\n\n\n\n<h3>2.2.3&nbsp;\u87ba\u65cb\u6868<\/h3>\n\n\n\n<p>\u87ba\u65cb\u6868\u5206\u4e3a\u6b63\u6868\u548c\u53cd\u6868\uff0c\u987a\u65f6\u9488\u65cb\u8f6c\u98ce\u529b\u5411\u540e\u7684\u87ba\u65cb\u6868\u4e3a\u6b63\u6868\uff0c\u9006\u65f6\u9488\u65cb\u8f6c\u98ce\u529b\u5411\u540e\u7684\u87ba\u65cb\u6868\u4e3a\u53cd\u6868\u3002\u87ba\u65cb\u6868\u7684\u9009\u62e9\u8981\u4e0e\u7535\u673a\u5339\u914d\uff0c\u901a\u5e38\u5927\u87ba\u65cb\u6868\u9700\u8981\u7528\u4f4eKV\u7684\u7535\u673a\uff0c\u5c0f\u87ba\u65cb\u6868\u7528\u9ad8KV\u7684\u7535\u673a\u3002\u87ba\u65cb\u6868\u7684\u578b\u53f7\u901a\u5e38\u662f4\u4f4d\u6570\u5b57\uff0c\u59821045\u30019443\uff0c\u524d\u9762\u4e24\u4f4d\u4ee3\u8868\u87ba\u65cb\u6868\u7684\u76f4\u5f84\uff08\u5355\u4f4d\u4e3a\u82f1\u5bf8\uff0c1\u82f1\u5bf8\u224825.4mm\uff09\uff0c\u5f53\u76f4\u5f84\u5927\u4e8e10\u82f1\u5bf8\u65f6\uff0c\u5373\u76f4\u63a5\u8868\u793a\u76f4\u5f84\uff0c\u5f53\u76f4\u5f84\u5c0f\u4e8e10\u82f1\u5bf8\u65f6\uff0c\u8868\u793a\u7684\u6570\u503c\u662f\u5b9e\u9645\u5c3a\u5bf8\u768410\u500d\u3002\u540e\u4e24\u4f4d\u662f\u87ba\u65cb\u6868\u7684\u87ba\u8ddd\u3002<\/p>\n\n\n\n<h3>2.2.4&nbsp;\u52a8\u529b\u7535\u6c60<\/h3>\n\n\n\n<p>\u7535\u6c60\u7528\u6765\u7ed9\u98de\u884c\u5668\u4f9b\u7535\u3002\u5bf9\u4e8e\u4e00\u822c\u7684\u591a\u65cb\u7ffc\u98de\u884c\u5668\u6765\u8bf4\uff0c\u4e00\u822c\u9009\u62e9\u9502\u7535\u6c60\uff0c\u9502\u7535\u6c60\u80fd\u91cf\u5bc6\u5ea6\u8f83\u9ad8\u4e14\u6210\u672c\u8f83\u4f4e\u3002<\/p>\n\n\n\n<h3>2.2.5&nbsp; \u673a\u67b6\u7ed3\u6784<gwmw style=\"display:none;\"><\/gwmw><\/h3>\n\n\n\n<p>\u673a\u67b6\u662f\u6574\u4e2a\u98de\u884c\u5668\u7684\u9aa8\u67b6\uff0c\u4e3b\u8981\u7528\u6765\u56fa\u5b9a\u98de\u884c\u63a7\u5236\u5668\u3001\u7535\u673a\u3001\u63a5\u6536\u673a\u3001\u7535\u6c60\u7b49\u90e8\u4ef6\u3002\u7531\u4e8e\u591a\u65cb\u7ffc\u98de\u884c\u5668\u5bf9\u6c14\u52a8\u5916\u5f62\u8981\u6c42\u4e0d\u9ad8\uff0c\u56e0\u6b64\u673a\u67b6\u5f62\u72b6\u591a\u79cd\u591a\u6837\uff0c\u4e3a\u4e0d\u540c\u529f\u80fd\u8bbe\u8ba1\u7684\u4e0d\u540c\u5f62\u5f0f\u7684\u673a\u67b6\u53ef\u4ee5\u6839\u636e\u9700\u6c42\u8fdb\u884c\u9009\u62e9\u3002<\/p>\n\n\n\n<h3>2.2.6\u00a0\u9065\u63a7\u5668\u548c\u63a5\u6536\u673a<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/h3>\n\n\n\n<p>\u9065\u63a7\u5668\u4e3b\u8981\u7528\u4e8e\u624b\u52a8\u98de\u884c\u65f6\u5411\u98de\u884c\u5668\u53d1\u9001\u5404\u79cd\u63a7\u5236\u547d\u4ee4\uff0c\u5e38\u7528\u7684\u9065\u63a7\u5668\u4e00\u822c\u4f7f\u7528\u7684\u9891\u6bb5\u4e3a2.4GHz\u3002\u6b63\u5e38\u7684\u56db\u65cb\u7ffc\u81f3\u5c11\u9700\u8981\u56db\u901a\u9053\u7684\u9065\u63a7\u5668\u3002\u901a\u9053\u8d8a\u591a\u8bf4\u660e\u9065\u63a7\u5668\u6240\u80fd\u63a7\u5236\u7684\u529f\u80fd\u8d8a\u591a\u3002\u6240\u8c13\u7684\u901a\u9053\uff0c\u6307\u53ef\u4ee5\u7528\u9065\u63a7\u5668\u63a7\u5236\u7684\u52a8\u4f5c\u8def\u6570\uff0c\u6bd4\u5982\u4e0a\u4e0b\u3001\u5de6\u53f3\u3001\u524d\u540e\u3001\u65cb\u8f6c\u3002\u901a\u5e38\u64cd\u4f5c\u591a\u65cb\u7ffc\u98de\u884c\u5668\u81f3\u5c11\u9700\u8981\u4e0a\u4e0b\u3001\u5de6\u53f3\u3001\u524d\u540e\u3001\u65cb\u8f6c\u56db\u4e2a\u901a\u9053\uff0c\u56e0\u6b64\u81f3\u5c11\u9700\u8981\u4f7f\u7528\u652f\u6301\u56db\u901a\u9053\u7684\u9065\u63a7\u5668\u3002\u63a5\u6536\u673a\u662f\u7528\u6765\u63a5\u6536\u9065\u63a7\u5668\u7684\u4fe1\u53f7\u5e76\u5c06\u4fe1\u53f7\u901a\u8fc7\u81ea\u8eab\u7aef\u53e3\u4f20\u8f93\u7ed9\u98de\u884c\u63a7\u5236\u5668\u6216\u8005\u7535\u5b50\u8c03\u901f\u88c5\u7f6e\u3002<\/p>\n\n\n\n<h3>2.2.7&nbsp;\u5b9a\u4f4d\u53ca\u901a\u4fe1\u8bbe\u5907<\/h3>\n\n\n\n<p>\u5b9a\u4f4d\u8bbe\u5907\u5305\u62ec\u536b\u661f\u5b9a\u4f4d\u4ee5\u53ca\u6fc0\u5149\u3001\u8d85\u58f0\u6ce2\u3001\u673a\u5668\u89c6\u89c9\u6a21\u5757\u7b49\uff0c\u901a\u4fe1\u8bbe\u5907\u5305\u62ec\u8fd1\u8ddd\u79bb\u901a\u4fe1\u4f7f\u7528\u7684\u6570\u4f20\u7535\u53f0\u3001Wi-Fi\u3001\u84dd\u7259\u3001ZigBee\u7b49\uff0c\u4e5f\u5305\u62ec\u8fdc\u8ddd\u79bb\u4f20\u8f93\u7684GPRS\u3001CDMA\u3001LTE\u8bbe\u5907\u3002\u5982\u679c\u9700\u8981\u5b9e\u65f6\u5c06\u98de\u884c\u5668\u4e0a\u6240\u5e26\u76f8\u673a\u7684\u56fe\u50cf\u56de\u4f20\uff0c\u8fd8\u9700\u8981\u5b89\u88c5\u56fe\u4f20\u8bbe\u5907\u3002<\/p>\n\n\n\n<h1>3&nbsp; OWL\u65e0\u4eba\u673a\u7ec4\u88c5<\/h1>\n\n\n\n<h2>3.1&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; \u7535\u673a\u5e8f\u53f7\u53ca\u65cb\u8f6c\u65b9\u5411<\/h2>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" width=\"482\" height=\"482\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-3.png\" alt=\"\" class=\"wp-image-731\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-3.png 482w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-3-300x300.png 300w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-3-150x150.png 150w\" sizes=\"(max-width: 482px) 100vw, 482px\" \/><figcaption><strong>\u56fe3.1 \u7535\u673a\u5e8f\u53f7\u53ca\u65cb\u8f6c\u65b9\u5411<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n\n<p><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/p>\n\n\n\n<p>\u56fe3.1\u4e3aOWL\u65e0\u4eba\u673a\u7684\u7535\u673a\u5e8f\u53f7\u56fe\uff0c\u5206\u522b\u4e3aM1\u3001M2\u3001M3\u3001M4\u53ca\u5176\u5bf9\u5e94\u7684\u65cb\u8f6c\u65b9\u5411\uff0c\u4f9b\u7528\u6237\u53c2\u8003\u3002<\/p>\n\n\n\n<h2><a>3.<\/a>2&nbsp;\u5b89\u88c5\u6868\u53f6\u4fdd\u62a4\u7f69<\/h2>\n\n\n\n<p>\u7528\u6237\u6839\u636e\u5b9e\u9645\u60c5\u51b5\u81ea\u884c\u9009\u62e9\u662f\u5426\u5b89\u88c5\u6868\u53f6\u4fdd\u62a4\u7f69\uff0c\u5982\u9700\u5b89\u88c5\uff0c\u8bf7\u51c6\u5907\u597d4\u4e2a\u4fdd\u62a4\u7f69\uff0c\u4f7f\u7528\u673a\u8eab\u4e0a\u539f\u6709\u76844\u9897M3\u87ba\u4e1d\uff0c\u5c06\u4fdd\u62a4\u7f69\u5b89\u88c5\u56fa\u5b9a\u57284\u4e2a\u673a\u81c2\u7684\u672b\u7aef\uff0c\u7528\u87ba\u4e1d\u62e7\u7d27\uff0c\u5982\u56fe3.2\u6240\u793a\u3002<gwmw style=\"display:none;\"><\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" width=\"591\" height=\"398\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-4.png\" alt=\"\" class=\"wp-image-732\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-4.png 591w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-4-300x202.png 300w\" sizes=\"(max-width: 591px) 100vw, 591px\" \/><figcaption><strong>\u56fe3.2 \u4fdd\u62a4\u7f69\u5b89\u88c5<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n\n<h2>3.3\u00a0\u5b89\u88c5\u87ba\u65cb\u6868<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/h2>\n\n\n\n<p>\u98de\u884c\u524d\u9700\u8981\u624b\u52a8\u5c06\u87ba\u65cb\u6868\u5b89\u88c5\u5230\u4f4d\uff0c\u8bf7\u6309\u5982\u4e0b\u987a\u5e8f\u5b89\u88c5\u87ba\u65cb\u6868\u3002<\/p>\n\n\n\n<ul><li>M1\u3001M2\u7535\u673a\u5934\u90e8\u4e3a\u5e73\u9762\uff0c\u9006\u65f6\u9488\u65cb\u8f6c\uff0c\u5b89\u88c5\u94f6\u8272\u87ba\u65cb\u6868\uff1b<\/li><li>M3\u3001M4\u7535\u673a\u5934\u90e8\u4e3a\u51f9\u9762\uff0c\u987a\u65f6\u9488\u65cb\u8f6c\uff0c\u5b89\u88c5\u9ed1\u8272\u87ba\u65cb\u6868\u3002<\/li><\/ul>\n\n\n\n<p>\u793a\u610f\u56fe\u5982\u56fe3.3\u6240\u793a\uff0c\u5b9e\u9645\u5b89\u88c5\u6548\u679c\u5982\u56fe3.4\u6240\u793a\u3002<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><\/gwmw><gwmw style=\"display:none;\"><\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" width=\"591\" height=\"217\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-5.png\" alt=\"\" class=\"wp-image-733\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-5.png 591w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-5-300x110.png 300w\" sizes=\"(max-width: 591px) 100vw, 591px\" \/><figcaption><strong>\u56fe3.3 \u87ba\u65cb\u6868\u5b89\u88c5\u65b9\u5411<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-6.png\" alt=\"\" class=\"wp-image-735\" width=\"696\" height=\"227\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-6.png 975w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-6-300x98.png 300w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-6-768x250.png 768w\" sizes=\"(max-width: 696px) 100vw, 696px\" \/><figcaption><strong>\uff08a\uff09\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014\u2014\uff08b\uff09<\/strong><br><strong>\u56fe3.4 \u87ba\u65cb\u6868\u5b89\u88c5\u65b9\u5411\u5b9e\u9645\u6548\u679c<\/strong><\/figcaption><\/figure><\/div>\n\n\n<h2>3.4&nbsp;\u5b89\u88c5\u7535\u6c60<\/h2>\n\n\n\n<p>\u4f7f\u7528\u7535\u6c60\u56fa\u5b9a\u624e\u5e26\u5c06\u7535\u6c60\u56fa\u5b9a\uff0c\u8bf7\u52a1\u5fc5\u5c06\u7535\u6c60\u56fa\u5b9a\u7262\u56fa\uff0c\u4ee5\u514d\u7535\u6c60\u5728\u98de\u884c\u4e2d\u8131\u843d\uff0c\u5982\u56fe3.5\u6240\u793a\u3002<\/p>\n\n\n\n<p>\u53e6\u5916\uff0c\u7535\u6c60\u63d2\u5934\u8981\u63d2\u63a5\u7262\u56fa\uff0c\u907f\u514d\u98de\u884c\u4e2d\u56e0\u9707\u52a8\u7b49\u539f\u56e0\u5bfc\u81f4\u63a5\u5934\u677e\u8131\uff0c\u81f4\u4f7f\u65e0\u4eba\u673a\u65ad\u7535\u5760\u6bc1\u3002<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/p>\n\n\n\n<p><strong><mark style=\"background-color:rgba(0, 0, 0, 0);color:#ff0000\" class=\"has-inline-color\">\u6ce8\u610f\uff1aOWL\u7684\u52a8\u529b\u7535\u6c60\u89c4\u683c\u578b\u53f7\u4e3a4S\/5300mAh\/45C\uff0c\u5728\u4f7f\u7528\u65f6\u7535\u6c60\u7535\u538b\u4e0d\u5f97\u4f4e\u4e8e3.65V*4S=14.6V\uff0c\u5426\u5219\u4f1a\u5bfc\u81f4\u7535\u6c60\u635f\u574f\u3002<\/mark><\/strong><\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" width=\"591\" height=\"288\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-7.png\" alt=\"\" class=\"wp-image-736\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-7.png 591w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-7-300x146.png 300w\" sizes=\"(max-width: 591px) 100vw, 591px\" \/><figcaption><strong>\u56fe3.5 \u7535\u6c60\u56fa\u5b9a\u624e\u5e26\u5c06\u7535\u6c60\u56fa\u5b9a<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n\n<p>\u81f3\u6b64\uff0c\u5df2\u7ecf\u5b8c\u6210\u4e86\u5bf9OWL\u7684\u7ec4\u88c5\u3002<\/p>\n\n\n\n<h2>3.5&nbsp; \u98de\u63a7\u7cfb\u7edf\u5185\u90e8\u6784\u9020\u53ca\u63a5\u53e3\u793a\u610f\u56fe<\/h2>\n\n\n\n<p>OWL\u91c7\u7528Enzo Pro \u7b2c\u56db\u4ee3\u98de\u884c\u63a7\u5236\u7cfb\u7edf\uff0c\u652f\u6301PX4\u6240\u6709\u529f\u80fd\uff0c\u53ef\u76f4\u63a5\u901a\u8fc7QGroundControl\u4e0b\u8f7d\u548c\u66f4\u65b0\u56fa\u4ef6\uff0c\u6b63\u9762\u7279\u5f81\u5982\u56fe3.6\u6240\u793a\uff0c\u80cc\u9762\u7279\u5f81\u5982\u56fe3.7\u6240\u793a\u3002<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" width=\"495\" height=\"433\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-8.png\" alt=\"\" class=\"wp-image-737\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-8.png 495w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-8-300x262.png 300w\" sizes=\"(max-width: 495px) 100vw, 495px\" \/><figcaption><strong>\u56fe3.6 \u98de\u884c\u63a7\u5236\u5668\u6b63\u9762\u7279\u5f81\u56fe<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" width=\"531\" height=\"417\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-9.png\" alt=\"\" class=\"wp-image-738\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-9.png 531w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-9-300x236.png 300w\" sizes=\"(max-width: 531px) 100vw, 531px\" \/><figcaption><strong>3.7 \u98de\u884c\u63a7\u5236\u5668\u80cc\u9762\u7279\u5f81\u56fe<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n\n<h1><a>4&nbsp; \u98de\u884c\u524d\u7684\u51c6\u5907<\/a><\/h1>\n\n\n\n<p>OWL\u63d0\u4f9b\u5373\u5f00\u5373\u7528\u4ea7\u54c1\u529f\u80fd\u3002\u7528\u6237\u53ea\u9700\u8981\u63d2\u4e0a\u7535\u6c60\uff0c\u7b49\u5f85\u5404\u9879\u5e94\u7528\u542f\u52a8\u540e\uff0c\u65e0\u4eba\u673a\u5c31\u53ef\u4ee5\u8d77\u98de\u98de\u884c\u3002\u5f53\u7528\u6237\u901a\u8fc7\u9065\u63a7\u5668\u5207\u6362\u5230\u4f4d\u7f6e\u63a7\u5236\u6a21\u5f0f\uff08POSCTL\uff09\u7684\u65f6\u5019\uff0c\u89c6\u89c9\u5bfc\u822a\u6a21\u5757\u63d0\u4f9b\u7684\u5b9a\u4f4d\u529f\u80fd\u5c31\u4f1a\u88ab\u98de\u63a7\u878d\u5408\uff0c\u6b64\u65f6\u65e0\u4eba\u673a\u4f1a\u81ea\u4e3b\u63a7\u5236\u4f4d\u7f6e\u4e0e\u59ff\u6001\u3002\u5f53\u7528\u6237\u5207\u6362\u5230OFFBOARD\u6a21\u5f0f\uff0c\u5c31\u53ef\u4ee5\u542f\u7528\u673a\u8f7d\u7535\u8111\u7684\u7a0b\u5e8f\u6765\u63a7\u5236\u65e0\u4eba\u673a\u81ea\u52a8\u98de\u884c\u3002\u7528\u6237\u9700\u8981\u6ce8\u610f\u7684\u662f\u65e0\u4eba\u673a\u7535\u6e90\u5f00\u542f\u540e\u9700\u8981\u7b49\u5f85\u89c6\u89c9\u5b9a\u4f4d\u6a21\u5757\u548c\u5e94\u7528\u542f\u52a8\uff0c\u5927\u698230\u79d2\uff08\u673a\u8f7d\u5e73\u53f0\u7684\u98ce\u6247\u8f6c\u8d77\u6765\uff09\u3002<\/p>\n\n\n\n<h2>4.1\u00a0\u00a0OWL\u673a\u8f7d\u5e73\u53f0\u8bbe\u7f6e<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/h2>\n\n\n\n<h3>4.1.1&nbsp;&nbsp;\u8fdc\u7a0b\u8fde\u63a5\u673a\u8f7d\u7535\u8111<\/h3>\n\n\n\n<p>\u7528\u6237\u9700\u8981\u51c6\u5907\u4e00\u53f0PC\u673a\uff0c\u53ef\u4ee5\u767b\u5f55\u5230\u673a\u8f7d\u7535\u8111\u3002\u56e0\u4e3a\u5e73\u53f0\u8f6f\u4ef6\u652f\u6301ROS\u63a5\u53e3\uff0c\u7528\u6237\u6700\u597d\u9884\u88c5\u597dUbuntu\u7cfb\u7edf\u548cROS\u8f6f\u4ef6\uff0c\u8fd9\u6837\u5c31\u53ef\u4ee5\u8c03\u8bd5\u5e73\u53f0\u4e0a\u7684\u8f6f\u4ef6\u4e86\u3002\u8fdc\u7a0b\u767b\u5f55\u65b9\u6cd5\uff1a<\/p>\n\n\n\n<p>\u542f\u52a8\u673a\u8f7d\u7535\u8111\u540e\uff08\u5927\u698220\u79d2\uff09\uff0c\u5728PC\u673a\u4e0a\u9009\u62e9\u65e0\u7ebf\u7f51\u7edckhadas_ap\uff08\u5bc6\u7801\uff1a12345678\uff09\u3002\u5982\u56fe4.1\u6240\u793a\u3002\u6253\u5f00\u7ec8\u7aef\u4f7f\u7528ssh\u767b\u5f55\u5230\u673a\u8f7d\u7535\u8111\u4e0a\uff0c\u5982\u56fe4.2\u6240\u793a\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>>ssh khadas@192.168.2.20\n>passwd: khadas\n<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/code><\/pre>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-10.png\" alt=\"\" class=\"wp-image-739\" width=\"359\" height=\"342\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-10.png 332w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-10-300x286.png 300w\" sizes=\"(max-width: 359px) 100vw, 359px\" \/><figcaption><strong>\u56fe4.1 \u65e0\u7ebf\u7f51\u7edckhadas_ap<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" width=\"591\" height=\"397\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-11.png\" alt=\"\" class=\"wp-image-740\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-11.png 591w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-11-300x202.png 300w\" sizes=\"(max-width: 591px) 100vw, 591px\" \/><figcaption><strong>\u56fe4.2 \u901a\u8fc7ssh\u767b\u5f55\u5230\u673a\u8f7d\u7535\u8111<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n\n<h3>4.1.2\u00a0  \u8fdc\u7a0b\u6587\u4ef6\u4f20\u8f93<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/h3>\n\n\n\n<p>\u5728PC\u547d\u4ee4\u884c\u7ec8\u7aef\u4e0a\uff0c\u53ef\u4ee5\u4f7f\u7528scp\u8fdb\u884c\u6587\u4ef6\u4f20\u8f93\u3002\u4f8b\u5982\uff1a<\/p>\n\n\n\n<ul><li>\u62f7\u8d1dPC\u6587\u4ef6\u5230\u673a\u8f7d\u7535\u8111\u7684\/home\/khadas\u76ee\u5f55\u4e0b\uff1a<\/li><\/ul>\n\n\n\n<pre class=\"wp-block-code\"><code>>scp file khadas@192.168.2.20:~\/<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><\/gwmw><\/gwmw><\/gwmw><gwmw style=\"display:none;\"><\/code><\/pre>\n\n\n\n<ul><li>\u62f7\u8d1d\u673a\u8f7d\u7535\u8111\u7684\/home\/khadas\/file\u5230PC\u7ec8\u7aef\u7684\u5f53\u524d\u76ee\u5f55\u4e0b\uff1a<\/li><\/ul>\n\n\n\n<pre class=\"wp-block-code\"><code>>scp file khadas@192.168.2.20:~\/<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/code><\/pre>\n\n\n\n<ul><li>\u62f7\u8d1dPC\u76ee\u5f55\u5230\u673a\u8f7d\u7535\u8111\u7684\/home\/khadas\u76ee\u5f55\u4e0b\uff1a<\/li><\/ul>\n\n\n\n<pre class=\"wp-block-code\"><code>&gt;scp -r dir khadas@192.168.2.20:~\/<\/code><\/pre>\n\n\n\n<h3><a>1.1.2&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; \u8fdc\u7a0b<\/a>ROS\u8c03\u8bd5<\/h3>\n\n\n\n<p>\u673a\u8f7d\u7535\u8111\u4e0a\u7684\u8f6f\u4ef6\u652f\u6301ROS\u63a5\u53e3\uff0c\u53ef\u4ee5\u8bbe\u7f6e\u4e3aMASTER\u3002PC\u673a\u4e0a\u6307\u5b9aROS MASTER\u540e\uff0c\u5c31\u53ef\u4ee5\u901a\u8fc7ROS\u63a5\u53e3\u8fdb\u884c\u8fdc\u7a0b\u8054\u8c03\u4e86\uff0c\u5982\u56fe4.3\u6240\u793a\u3002<\/p>\n\n\n\n<ul><li>\u5728\u673a\u8f7d\u7535\u8111\u4e0a\u8bbe\u7f6emaster IP:<\/li><\/ul>\n\n\n\n<pre class=\"wp-block-code\"><code>>export ROS_IP=192.168.2.20<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/code><\/pre>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" width=\"591\" height=\"307\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-12.png\" alt=\"\" class=\"wp-image-741\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-12.png 591w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-12-300x156.png 300w\" sizes=\"(max-width: 591px) 100vw, 591px\" \/><figcaption><strong>\u56fe4.3 \u8bbe\u7f6emaster IP<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n\n<ul><li>\u5728PC\u4e0a\u6307\u5b9amaster IP<\/li><\/ul>\n\n\n\n<pre class=\"wp-block-code\"><code>&gt;export ROS_MASTER_URI=http:\/\/192.168.2.20:11311<\/code><\/pre>\n\n\n\n<p>\u53ef\u4ee5\u8fd0\u884c\u4e00\u4e0bROS\u547d\u4ee4\u6d4b\u8bd5\u4e00\u4e0bROS\u8fde\u63a5\u662f\u5426\u6210\u529f\uff0c\u4f8b\u5982\uff1a<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/p>\n\n\n\n<ul><li>\u8fd0\u884crosnode list\u67e5\u770bROS\u8282\u70b9\uff0c\u5982\u56fe4.4\u6240\u793a\u3002<\/li><\/ul>\n\n\n\n<pre class=\"wp-block-code\"><code>&gt;rosnode list<\/code><\/pre>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" width=\"591\" height=\"272\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-13.png\" alt=\"\" class=\"wp-image-742\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-13.png 591w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-13-300x138.png 300w\" sizes=\"(max-width: 591px) 100vw, 591px\" \/><figcaption><strong>\u56fe4.4 \u67e5\u770bROS\u8282\u70b9<\/strong><\/figcaption><\/figure><\/div>\n\n\n<p>\u4e0a\u8ff0ROS\u8fde\u63a5\u6210\u529f\u540e\uff0c\u53ef\u4ee5\u8fd0\u884c\u5176\u4ed6\u8c03\u8bd5\u7528\u7684ROS\u4efb\u52a1\u3002\u4f8b\u5982\uff1a<\/p>\n\n\n\n<ul><li>\u8fd0\u884crviz\u56fe\u5f62\u754c\u9762\u663e\u793aROS\u6d88\u606f\u7ed3\u679c\uff0c\u5982\u56fe4.5\u6240\u793a\u3002<\/li><\/ul>\n\n\n\n<pre class=\"wp-block-code\"><code>>rosrun rviz rviz<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/code><\/pre>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" width=\"591\" height=\"418\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-14.png\" alt=\"\" class=\"wp-image-743\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-14.png 591w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-14-300x212.png 300w\" sizes=\"(max-width: 591px) 100vw, 591px\" \/><figcaption><strong>\u56fe4.5 rviz\u56fe\u5f62\u754c\u9762\u663e\u793a<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n\n<h3>4.1.2&nbsp;&nbsp;\u673a\u8f7d\u7535\u8111\u81ea\u542f\u52a8\u8bbe\u7f6e<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><\/gwmw><\/h3>\n\n\n\n<p>\u673a\u8f7d\u7535\u8111\u652f\u6301systemd\u81ea\u542f\u52a8\u7cfb\u7edf\uff0c\u7528\u6237\u53ef\u4ee5\u6dfb\u52a0\u81ea\u5df1\u7684\u81ea\u542f\u52a8\u811a\u672c\u3002\u5177\u4f53\u65b9\u6cd5\u53ef\u4ee5\u53c2\u89c1Ubuntu systemd service\u7684\u7ba1\u7406\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p>\u76ee\u524dOWL\u65e0\u4eba\u673a\u5df2\u7ecf\u6dfb\u52a0\u7684\u81ea\u542f\u52a8\u670d\u52a1\u6709Wifiap\uff0c\u548cVisquad\uff1a<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/p>\n\n\n\n<ul><li>Wifiap\u670d\u52a1\uff1a\u542f\u52a8\u65e0\u7ebfAP\u7f51\u7edc<\/li><\/ul>\n\n\n\n<p>\u5177\u4f53\u7684AP\u7684\u53c2\u6570\u5728\/home\/khadas\/bin\/wifi.sh\u3002\u7528\u6237\u53ef\u4ee5\u4fee\u6539AP\u7684IP\uff0c\u5bc6\u7801\u7b49\u3002<\/p>\n\n\n\n<ul><li>Visquad\u670d\u52a1\uff1a\u542f\u52a8OWL\u89c6\u89c9\u7b97\u6cd5<\/li><\/ul>\n\n\n\n<p>\u5bf9\u5e94\u7684\u89c6\u89c9\u7b97\u6cd5\u542f\u52a8\u811a\u672c\u5728\/home\/khadas\/bin\/visquad.sh\u3002\u7528\u6237\u53ef\u4ee5\u4fee\u6539\/\u6dfb\u52a0\u81ea\u542f\u52a8\u7684\u7a0b\u5e8f\u3002<\/p>\n\n\n\n<h2>4.2&nbsp; OWL\u65e0\u4eba\u673a\u98de\u884c\u6a21\u5f0f<\/h2>\n\n\n\n<h3>4.2.1\u00a0\u8ba4\u8bc6\u9065\u63a7\u5668<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/h3>\n\n\n\n<p>OWL\u91c7\u7528\u5bcc\u65afi6x\u9065\u63a7\u5668\uff0c\u5de6\u4fa7\u64cd\u7eb5\u6746\u4e3a\u6cb9\u95e8\u901a\u9053\uff0c\u5982\u56fe4.6\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" width=\"679\" height=\"481\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-15.png\" alt=\"\" class=\"wp-image-744\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-15.png 679w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-15-300x213.png 300w\" sizes=\"(max-width: 679px) 100vw, 679px\" \/><figcaption><strong>\u56fe4.6 \u5bcc\u65afi6x\u9065\u63a7\u5668<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n\n<blockquote class=\"wp-block-quote\"><p><strong>\u6ce8\u610f\u4e8b\u9879\uff1a<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/p><cite>1.\u8bf7\u52ff\u5728\u65e0\u4eba\u673a\u98de\u884c\u65f6\u5173\u95ed\u9065\u63a7\u5668\u3002<br>2.\u5929\u7ebf\u56db\u5468\u4fe1\u53f7\u5f3a\u5ea6\u66f4\u5927\uff0c\u8bf7\u907f\u514d\u9065\u63a7\u5668\u5929\u7ebf\u76f4\u63a5\u6307\u5411\u65e0\u4eba\u673a\u3002<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><\/gwmw><\/gwmw><\/gwmw><\/gwmw><\/cite><\/blockquote>\n\n\n\n<h3>4.2.1&nbsp;\u4e3b\u8981\u652f\u6301\u7684\u98de\u884c\u6a21\u5f0f<\/h3>\n\n\n\n<p>\u4ee5\u4e0b\u4e3a\u56db\u4e2a\u5e38\u7528\u7684\u98de\u884c\u6a21\u5f0f\uff0c\u5728\u9996\u6b21\u98de\u884c\u524d\u8bf7\u52a1\u5fc5\u719f\u77e5\u6bcf\u4e2a\u98de\u884c\u6a21\u5f0f\u7684\u98de\u884c\u7279\u70b9\uff1a<\/p>\n\n\n\n<ol type=\"1\"><li><strong>\u81ea\u7a33\u63a7\u5236\u6a21\u5f0f\uff08<\/strong><strong>STABILIZE<\/strong><strong>\uff09\uff1a<\/strong>\u98de\u63a7\u7cfb\u7edf\u4f1a\u8ba9\u65e0\u4eba\u673a\u4fdd\u6301\u7a33\u5b9a\uff0c\u662f\u6700\u57fa\u672c\u7684\u98de\u884c\u6a21\u5f0f\u3002\u81ea\u7a33\u6a21\u5f0f\u4e0b\uff0c\u89c6\u89c9\u5b9a\u4f4d\u7684\u7ed3\u679c\u662f\u6ca1\u6709\u88ab\u878d\u5408\u5230\u98de\u63a7\u7684EKF\u7b97\u6cd5\u4e2d\u7684\uff0c\u9700\u8981\u7528\u6237\u8fdb\u884c\u624b\u52a8\u63a7\u5236\u65e0\u4eba\u673a\u59ff\u6001\u3002\u5728\u98de\u884c\u6d4b\u8bd5\u4e2d\uff0c\u5982\u679c\u53d1\u73b0\u4f4d\u7f6e\u5f02\u5e38\uff0c\u7528\u6237\u5e94\u5c3d\u5feb\u8c03\u6574\u5230\u8be5\u6a21\u5f0f\u4ee5\u4fdd\u8bc1\u65e0\u4eba\u673a\u5b89\u5168\uff0c\u9632\u6b62\u70b8\u673a\u3002\u6b64\u6a21\u5f0f\u9ad8\u5ea6\u4e0d\u4f1a\u81ea\u52a8\u4fdd\u6301\uff0c\u968f\u6cb9\u95e8\u53d8\u5316\u800c\u53d8\u5316\u3002<\/li><li><strong>\u9ad8\u5ea6\u63a7\u5236\u6a21\u5f0f\uff08<\/strong><strong>ALTCTL<\/strong><strong>\uff09\uff1a<\/strong>\u5b9a\u9ad8\u6a21\u5f0f\u4e0b\uff0c\u98de\u63a7\u7cfb\u7edf\u4f1a\u6839\u636e\u6c14\u538b\u4f20\u611f\u5668\u7684\u6570\u636e\u4fdd\u6301\u5f53\u524d\u9ad8\u5ea6\uff0c\u5b9a\u9ad8\u60ac\u505c\u65f6\uff0c\u65e0\u4eba\u673a\u4f9d\u7136\u53ef\u901a\u8fc7\u9065\u63a7\u6765\u79fb\u52a8\uff0c\u6b64\u6a21\u5f0f\u4e0b\u65e0\u4eba\u673a\u4f1a\u968f\u7740\u98ce\u6f02\u79fb\u3002<\/li><li><strong>\u4f4d\u7f6e\u63a7\u5236\u6a21\u5f0f\uff08<\/strong><strong>POSCTL<\/strong><strong>\uff09\uff1a<\/strong>\u5373\u60ac\u505c\u6a21\u5f0f\uff0c\u98de\u63a7\u878d\u5408\u4e86\u673a\u8f7d\u7535\u8111\u7684\u89c6\u89c9\u5b9a\u4f4d\u7ed3\u679c\uff0c\u4e0d\u624b\u52a8\u63a7\u5236\u65f6\u5019\u4e0d\u4f1a\u51fa\u73b0\u6f02\u79fb\u7b49\u73b0\u8c61\uff0c\u7c7b\u4f3c\u4e8eGPS\u878d\u5408\u7684\u6548\u679c\uff0c\u4f7f\u65e0\u4eba\u673a\u5728\u65e0GPS\u4fe1\u53f7\u73af\u5883\u4e0b\u4fdd\u6301\u4f4d\u7f6e\u9501\u5b9a\u3002\u8fd9\u4e2a\u65f6\u5019\u65e0\u4eba\u673a\u8fd8\u662f\u54cd\u5e94\u9065\u63a7\u5668\u53d1\u51fa\u7684\u63a7\u5236\u6307\u4ee4\u3002\u5982\u98de\u884c\u4e2d\u4f4d\u7f6e\u6570\u636e\u4e22\u5931\u5219\u65e0\u4eba\u673a\u4f1a\u81ea\u52a8\u5207\u6362\u4e3a\u5b9a\u9ad8\u6a21\u5f0f\u3002<\/li><li><strong>\u5916\u90e8\u63a7\u5236\u6a21\u5f0f\uff08<\/strong><strong>OFFBOARD<\/strong><strong>\uff09\uff1a<\/strong>\u5f53\u9065\u63a7\u5668\u5207\u5165OFFBOARD\u6a21\u5f0f\u540e\uff0c\u65e0\u4eba\u673a\u4e0d\u518d\u54cd\u5e94\u9065\u63a7\u5668\u7684\u63a7\u5236\u6307\u4ee4\uff0c\u65e0\u4eba\u673a\u7684\u63a7\u5236\u7531\u673a\u8f7d\u7535\u8111\u6307\u4ee4\u63a7\u5236\u3002\u8fd9\u4e2a\u65f6\u5019\u53ef\u4ee5\u8fdb\u884c\u81ea\u52a8\u98de\u884c\uff0c\u5177\u4f53\u4e0a\u662f\u7531\u673a\u8f7d\u7535\u8111\u7684EGO-Planner\u6765\u53d1\u51fa\u63a7\u5236\u6307\u4ee4\u3002<\/li><\/ol>\n\n\n\n<p>\u5728\u673a\u8f7d\u7535\u8111\u63d0\u4f9b\u7684EGO-Planner\u7a0b\u5e8f\u91cc\uff0c\u6211\u4eec\u63d0\u4f9b\u4e86\u7b80\u5355\u7684\u63a7\u5236Demo\u3002EGO-Planner\u4e2d\u7684mavros_controller\u7a0b\u5e8f\u68c0\u6d4b\u9065\u63a7\u5668\u63a7\u5236channel5\uff08\u9065\u63a7\u5668SWC\uff09\u53d1\u51fa\u7684\u4fe1\u53f7\uff0c<strong><u>\u4e00\u65e6\u5c06\u9065\u63a7\u5668\u6a21\u5f0f\u5207\u6362\u5230<\/u><\/strong><strong><u>OFFBOARD<\/u><\/strong><strong><u>\u6a21\u5f0f\u540e\uff0c<\/u><\/strong><strong><u>mavros_controller<\/u><\/strong><strong><u>\u4f1a\u89e6\u53d1\u5728\u65e0\u4eba\u673a\u521a\u4e0a\u7535\u540e\u673a\u5934\u6307\u5411\u7684\u65b9\u5411\uff08\u4e5f\u5c31\u662f<\/u><\/strong><strong><u>X<\/u><\/strong><strong><u>\u65b9\u5411\uff09\u524d\u8fdb<\/u><\/strong><strong><u>5<\/u><\/strong><strong><u>\u7c73\u7684\u4e00\u4e2a\u76ee\u6807\uff08\u524d\u8fdb<\/u><\/strong><strong><u>5<\/u><\/strong><strong><u>\u7c73\u662f\u53ef\u4ee5\u914d\u7f6e\u7684\u53c2\u6570\uff09<\/u><\/strong>\u3002EGO-Planner\u4f1a\u6839\u636e\u5f53\u524d\u4f4d\u7f6e\u548c\u53cc\u76ee\u7684\u6df1\u5ea6\u56fe\uff0c\u8fdb\u884c\u907f\u969c\u548c\u8def\u5f84\u89c4\u5212\uff0c\u751f\u6210\u5b9e\u65f6\u7684\u65e0\u4eba\u673a\u76ee\u6807\u63a7\u5236\u547d\u4ee4\uff0c\u76f4\u81f3\u5230\u8fbe\u76ee\u6807\u3002\u7528\u6237\u53ef\u4ee5\u53c2\u89c1mavros_controller\u7684\u7a0b\u5e8f\u6765\u7f16\u5199\u81ea\u5df1\u9700\u8981\u7684\u63a7\u5236\u7a0b\u5e8f\u3002<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/p>\n\n\n\n<h3>4.2.2\u00a0\u00a0\u98de\u884c\u6a21\u5f0f\u7684\u5207\u6362<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><\/gwmw><gwmw style=\"display:none;\"><\/h3>\n\n\n\n<p>OWL\u51fa\u5382\u9ed8\u8ba4\u5c06\u6a21\u5f0f\u8bbe\u5b9a\u4e3a<strong>\u81ea\u7a33\u63a7\u5236\u3001\u4f4d\u7f6e\u63a7\u5236\u3001\u5916\u90e8\u63a7\u5236<\/strong>\u6a21\u5f0f\uff0c\u98de\u884c\u6a21\u5f0f\u5207\u6362\u7531\u9065\u63a7\u5668<strong>SWC<\/strong>\u5f00\u5173\uff08\u4e09\u6bb5\u5f00\u5173\uff09\u63a7\u5236\uff0c\u6a21\u5f0f\u5207\u6362\u5982\u88684.1\u6240\u793a\u3002<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>SWB\u5f00\u5173\u72b6\u6001<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/td><td class=\"has-text-align-center\" data-align=\"center\">\u5f53\u524d\u98de\u884c\u6a21\u5f0f \u5e26GPS<\/td><\/tr><tr><td>\u4f4e\u4f4d\uff08\u4e0a\uff09<\/td><td class=\"has-text-align-center\" data-align=\"center\">\u81ea\u7a33\u63a7\u5236\u6a21\u5f0f\uff08STABILIZE\uff09<\/td><\/tr><tr><td>\u4e2d\u4f4d\uff08\u4e2d\uff09<\/td><td class=\"has-text-align-center\" data-align=\"center\">\u4f4d\u7f6e\u63a7\u5236\uff08POSCTL\uff09\uff08\u6709\u5b9a\u4f4d\uff09 &nbsp;<strong>|<\/strong>&nbsp; \u9ad8\u5ea6\u63a7\u5236\uff08ALTCTL\uff09\uff08\u65e0\u5b9a\u4f4d\uff09<gwmw style=\"display:none;\"><\/gwmw><\/td><\/tr><tr><td>\u9ad8\u4f4d\uff08\u4e0b\uff09<\/td><td class=\"has-text-align-center\" data-align=\"center\">\u5916\u90e8\u63a7\u5236\u6a21\u5f0f\uff08OFFBOARD\uff09\uff08<strong>\u6b64\u6a21\u5f0f\u4f1a\u89e6\u53d1\u81ea\u52a8\u907f\u969c\u98de\u884c\uff0c\u8bf7\u8c28\u614e<\/strong>\uff09<\/td><\/tr><\/tbody><\/table><figcaption><strong>\u88684.1 \u6a21\u5f0f\u5207\u6362<\/strong><\/figcaption><\/figure>\n\n\n\n<blockquote class=\"wp-block-quote\"><p><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><\/gwmw><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><\/gwmw><\/gwmw><gwmw style=\"display:none;\"><\/p><cite><strong>\u6ce8\u610f\u4e8b\u9879\uff1a<\/strong><br>\u9ad8\u5ea6\u63a7\u5236\u548c\u4f4d\u7f6e\u63a7\u5236\u6a21\u5f0f\u4e0b\u53ef\u4ee5\u901a\u8fc7\u9065\u63a7\u5668\u8c03\u6574\u9ad8\u5ea6\uff0c\u6cb9\u95e8\u4f4e\u4e8e50%\u65e0\u4eba\u673a\u5c06\u4e0b\u843d\uff0c\u9ad8\u4e8e50%\u4f1a\u4e0a\u5347\uff0c\u7b49\u4e8e50%\u5219\u4fdd\u6301\u9ad8\u5ea6\u4e0d\u53d8\u3002<br>\u5f53\u65e0\u4eba\u673a\u4ece\u9ad8\u5ea6\u63a7\u5236\u6216\u4f4d\u7f6e\u63a7\u5236\u6a21\u5f0f\u5207\u6362\u56de\u81ea\u7a33\u6a21\u5f0f\u65f6\uff0c\u6cb9\u95e8\u4f4d\u7f6e\u4e0d\u80fd\u8fc7\u9ad8\uff0c\u5426\u5219\u4f1a\u9020\u6210\u65e0\u4eba\u673a\u5feb\u901f\u4e0a\u5347\u5bb9\u6613\u9020\u6210\u5931\u63a7\uff0c\u4e5f\u4e0d\u53ef\u8fc7\u4f4e\uff0c\u8fc7\u4f4e\u4f1a\u9020\u6210\u65e0\u4eba\u673a\u5feb\u901f\u4e0b\u964d\u3002<\/cite><\/blockquote>\n\n\n\n<h2><a>4.3&nbsp; OWL<\/a>\u98de\u63a7\u7cfb\u7edf\u72b6\u6001<\/h2>\n\n\n\n<h3><a>4.3.1&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; \u98de\u63a7\u677f\u8f7d<\/a>LED\u72b6\u6001<\/h3>\n\n\n\n<ul><li>\u9752\u8272\u706f\u95ea\uff1a\u98de\u63a7\u7cfb\u7edf\u521d\u59cb\u5316<\/li><li>\u7eff\u8272\u5feb\u95ea\uff1a\u4f20\u611f\u5668\u6b63\u5728\u6821\u51c6<\/li><li>\u7eff\u8272\u6162\u95ea\uff1a\u65e0\u4eba\u673a\u672a\u89e3\u9501<\/li><li>\u84dd\u706f\u5e38\u4eae\uff1a\u65e0\u4eba\u673a\u5df2\u89e3\u9501<\/li><\/ul>\n\n\n\n<h3><a>4.3.2&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; \u98de\u63a7\u677f\u8f7d\u8702\u9e23\u5668\u72b6\u6001<\/a><\/h3>\n\n\n\n<ul><li>\u4e0a\u7535\u540e\u97f3\u4e50\u58f0\uff1a\u98de\u63a7\u7cfb\u7edf\u521d\u59cb\u5316<\/li><li>\u5600\u5600\u5600\u6025\u4fc3\u58f0\uff1a\u5728POSCTL\u6a21\u5f0f\u4e0b\u5b9a\u4f4d\u6570\u636e\u4e22\u5931\u62a5\u8b66<\/li><\/ul>\n\n\n\n<h1><a>5&nbsp;\u65e0\u4eba\u673a\u98de\u884c\u64cd\u63a7<\/a><\/h1>\n\n\n\n<h2><a>5.1&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; \u98de\u884c\u524d\u7684\u68c0\u67e5<\/a><\/h2>\n\n\n\n<p>1.\u8bf7\u786e\u4fdd\u65e0\u4eba\u673a\u5404\u90e8\u4ef6\u5b89\u88c5\u7262\u56fa\uff0c\u8fde\u63a5\u59a5\u5f53\uff0c\u5e76\u786e\u4fdd\u65e0\u4efb\u4f55\u672a\u56fa\u5b9a\u7684\u96f6\u90e8\u4ef6\u53ca\u4e0d\u5fc5\u8981\u7684\u96f6\u90e8\u4ef6\u9057\u6f0f\u5728\u65e0\u4eba\u673a\u4e0a\u3002<\/p>\n\n\n\n<p>2.\u786e\u4fdd\u87ba\u65cb\u6868\u5b89\u88c5\u59a5\u5f53\u4e14\u7262\u56fa\u3002<\/p>\n\n\n\n<p>3.\u8bf7\u786e\u4fdd\u65e0\u4eba\u673a\u53ca\u9065\u63a7\u5668\u7535\u91cf\u5145\u8db3\u3002<gwmw style=\"display:none;\"><\/p>\n\n\n\n<p>4.\u8bf7\u52ff\u5728\u4eba\u53e3\u7a20\u5bc6\u533a\u57df\u6216\u5176\u4ed6\u65e0\u4eba\u673a\u7684\u98de\u884c\u8303\u56f4\u8bd5\u98de\uff0c\u5982\u6709\u5fc5\u8981\u53ef\u5728\u98de\u884c\u533a\u57df\u5468\u56f4\u8bbe\u7f6e\u8b66\u793a\u6807\u5fd7\u3002<\/p>\n\n\n\n<p>5.\u6ce8\u610f\u7981\u98de\u533a\u548c\u9650\u5236\u9ad8\u5ea6\uff0c\u8bf7\u52ff\u5728\u7981\u98de\u533a\u5185\u6216\u8d85\u8fc7\u9650\u5236\u9ad8\u5ea6\u98de\u884c\u3002<\/p>\n\n\n\n<p>6.\u5f00\u542f\u65f6\u8bf7\u5148\u542f\u52a8\u9065\u63a7\u5668\uff0c\u518d\u542f\u52a8\u65e0\u4eba\u673a\uff0c\u9065\u63a7\u5668\u542f\u52a8\u65f6\u6cb9\u95e8\u52a1\u5fc5\u5728\u6700\u4f4e\u4f4d\u7f6e\u3002<\/p>\n\n\n\n<h2><a>5.2&nbsp;&nbsp;\u65e0\u4eba\u673a\u5f00\u673a\u521d\u59cb\u5316<\/a><\/h2>\n\n\n\n<p>1. \u5c06\u9065\u63a7\u5668\u6cb9\u95e8\u6447\u6746\u62c9\u5230\u6700\u4f4e\uff0c\u5148\u6253\u5f00\u9065\u63a7\u5668\u7535\u6e90\uff0c\u4fdd\u8bc1\u65e0\u4eba\u673a\u65f6\u523b\u53d7\u5230\u9065\u63a7\u5668\u63a7\u5236\uff0c\u907f\u514d\u9020\u6210\u5931\u63a7\u72b6\u6001\u3002<\/p>\n\n\n\n<p>2.\u5c06\u65e0\u4eba\u673a\u653e\u7f6e\u5728\u5e73\u6574\u573a\u5730\uff0c\u4fdd\u6301\u9759\u6b62\u4e0d\u52a8\uff0c\u957f\u6309\u65e0\u4eba\u673a\u5f00\u673a\u6309\u952e\u3002\u6ce8\u610f\u4e0d\u8981\u5728\u6643\u52a8\u4e2d\u4e0a\u7535\uff0c\u4f1a\u5bfc\u81f4\u9640\u87ba\u4eea\u521d\u59cb\u5316\u91c7\u6837\u5931\u8d25\u6216\u8005\u822a\u5411\u8f74\u6570\u636e\u6f02\u79fb\uff0c\u65e0\u6cd5\u6b63\u5e38\u542f\u52a8\u3002<\/p>\n\n\n\n<p>3.\u82e5\u98de\u884c\u72b6\u6001\u6307\u793a\u706f\u7eff\u8272\u95ea\u70c1\uff0c\u8868\u660e\u521d\u59cb\u5316\u5b8c\u6210\uff0c\u6b64\u65f6\u65e0\u4eba\u673a\u5904\u4e8e\u4e0a\u9501\u72b6\u6001\u3002\u53ef\u8fdb\u884c\u4e0b\u4e00\u6b65\u64cd\u4f5c\u3002<\/p>\n\n\n\n<h2><a>5.3&nbsp;&nbsp;\u65e0\u4eba\u673a\u89e3\u9501\u4e0e\u8d77\u98de<\/a><\/h2>\n\n\n\n<p>\u521d\u59cb\u5316\u5b8c\u6210\u540e\uff0c<a>\u89e3\u9501<\/a><\/p>\n\n\n\n<p>\u5c06\u5de6\u4fa7\u6cb9\u95e8\u6447\u6746\u63a8\u5230\u53f3\u4e0b\u89d2\u4fdd\u6301\uff13\u79d2\uff0c\u5982\u56fe5.1\u6240\u793a\uff0c\u87ba\u65cb\u6868\u5f00\u59cb\u4f4e\u901f\u65cb\u8f6c\uff0c\u6b64\u65f6\u98de\u884c\u72b6\u6001\u6307\u793a\u706f\u84dd\u8272\u5e38\u4eae\uff0c\u89e3\u9501\u5b8c\u6210\u3002<\/p>\n\n\n\n<p>\u7535\u673a\u542f\u52a8\u540e\uff0c\u9700\u7acb\u523b\u5c06\u6a2a\u6eda\u3001\u4fef\u4ef0\u548c\u504f\u822a\u6746\u56de\u4e2d\u3002\u8f7b\u8f7b\u63a8\u52a8\u6cb9\u95e8\u6746\u4f7f\u65e0\u4eba\u673a\u8d77\u98de\uff0c\u9065\u63a7\u5668\u64cd\u4f5c\u5982\u56fe5.2\u6240\u793a\uff08\u5de6\u4fa7\u6447\u6746\uff09\u3002<gwmw style=\"display:none;\"><\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" width=\"736\" height=\"266\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-16.png\" alt=\"\" class=\"wp-image-748\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-16.png 736w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-16-300x108.png 300w\" sizes=\"(max-width: 736px) 100vw, 736px\" \/><figcaption><strong>\u56fe5.1 \u89e3\u9501\u52a8\u4f5c \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0                                                                    \u00a0\u00a0\u00a0\u56fe5.2 \u8d77\u98de<\/strong><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n\n<p><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><\/gwmw><gwmw style=\"display:none;\"><\/p>\n\n\n\n<p>\u901a\u8fc7\u9065\u63a7\u5668\u5bf9\u65e0\u4eba\u673a\u8fdb\u884c\u59ff\u6001\u63a7\u5236\u5982\u56fe5.3\u6240\u793a\u3002<gwmw style=\"display:none;\"><\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" width=\"595\" height=\"270\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-17.png\" alt=\"\" class=\"wp-image-749\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-17.png 595w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-17-300x136.png 300w\" sizes=\"(max-width: 595px) 100vw, 595px\" \/><figcaption><strong>\u56fe5.3 \u59ff\u6001\u63a7\u5236\u64cd\u4f5c<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n\n<p>1. \u5728\u81ea\u7a33\uff08\u59ff\u6001\uff09\u6a21\u5f0f\u4e0b\uff0c\u8f7b\u63a8\u6cb9\u95e8\u6447\u6746\u81f330%\u4fdd\u6301\u4e0d\u52a8\uff0c\u8f7b\u5fae\u62e8\u52a8\u53f3\u4fa7\u6447\u6746\uff0c\u89c2\u5bdf\u65e0\u4eba\u673a\u7535\u673a\u8f6c\u52a8\u8d8b\u52bf\u662f\u5426\u4e0e\u6447\u6746\u65b9\u5411\u4ee5\u53ca\u6746\u91cf\u4e00\u81f4\uff0c\u82e5\u4e00\u81f4\uff0c\u65e0\u4eba\u673a\u5de5\u4f5c\u6b63\u5e38\uff1b\u82e5\u4e0d\u6b63\u5e38\uff0c\u8bf7\u7acb\u5373\u505c\u8f6c\u68c0\u67e5\u786c\u4ef6\u8fde\u63a5\u3002<\/p>\n\n\n\n<p>2. \u6162\u6162\u63a8\u52a8\u6cb9\u95e8\u8d77\u98de\uff0c\u89c2\u5bdf\u65e0\u4eba\u673a\u662f\u5426\u7ad6\u76f4\u4e0a\u5347\uff0c\u5982\u679c\u6709\u504f\u79fb\u7684\u8d8b\u52bf\uff0c\u8bf7\u53ca\u65f6\u62e8\u52a8\u53f3\u4fa7\u6447\u6746\u4fee\u6b63\u65b9\u5411\uff0c\u5f85\u65e0\u4eba\u673a\u79bb\u5f00\u5730\u9762\u540e\uff0c\u8bf7\u65f6\u523b\u4fdd\u6301\u5bf9\u65b9\u5411\u7684\u63a7\u5236\u3002<\/p>\n\n\n\n<p>3. \u521d\u6b21\u98de\u884c\u4e0d\u8981\u79bb\u5f00\u5730\u9762\u8fc7\u9ad8\uff0c\u5404\u79cd\u64cd\u4f5c\u5e45\u5ea6\u5747\u4e0d\u8981\u8fc7\u5927\uff0c\u9010\u6e10\u719f\u6089\u65e0\u4eba\u673a\u7684\u5404\u65b9\u9762\u6027\u80fd\u72b6\u51b5\uff0c\u5728\u719f\u6089\u65e0\u4eba\u673a\u7684\u5404\u65b9\u9762\u72b6\u51b5\u540e\uff0c\u518d\u8fdb\u884c\u6b63\u5e38\u98de\u884c\u3002<\/p>\n\n\n\n<h2><a>5.4&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; \u65e0\u4eba\u673a\u964d\u843d<\/a>\u4e0e\u9501\u5b9a<\/h2>\n\n\n\n<p>\u9010\u6e10\u964d\u4f4e\u6cb9\u95e8\u6746\u7684\u4f4d\u7f6e\uff0c\u4f7f\u65e0\u4eba\u673a\u9010\u6e10\u4e0b\u964d\uff0c\u9065\u63a7\u5668\u64cd\u4f5c\u5982\u56fe5.4\u6240\u793a\uff08\u5de6\u4fa7\u6447\u6746\uff09\u3002<gwmw style=\"display:none;\"><\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" width=\"639\" height=\"253\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-18.png\" alt=\"\" class=\"wp-image-750\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-18.png 639w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-18-300x119.png 300w\" sizes=\"(max-width: 639px) 100vw, 639px\" \/><figcaption><strong>\u56fe5.4 \u964d\u843d \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0                                            \u00a0\u00a0\u00a0\u00a0\u56fe5.5 \u4e0a\u9501\u52a8\u4f5c<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n\n<p>\u5c06\u5de6\u4fa7\u6cb9\u95e8\u6447\u6746\u63a8\u5230\u5de6\u4e0b\u89d2\u4fdd\u6301\uff13\u79d2\uff0c\u87ba\u65cb\u6868\u505c\u6b62\u8f6c\u52a8\uff0c\u98de\u884c\u72b6\u6001\u6307\u793a\u706f\u53d8\u4e3a\u84dd\u8272\u95ea\u70c1\u72b6\u6001\uff0c\u6b64\u65f6\u65e0\u4eba\u673a\u5904\u4e8e\u4e0a\u9501\u72b6\u6001\uff0c\u5982\u56fe5.5\u6240\u793a\u3002<\/p>\n\n\n\n<blockquote class=\"wp-block-quote\"><p><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><\/p><\/blockquote>\n\n\n\n<blockquote class=\"wp-block-quote\"><p><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/p><cite><strong>\u6ce8\u610f\u4e8b\u9879<\/strong><br>1. \u964d\u843d\u65f6\uff0c\u5207\u52ff\u76f4\u63a5\u5c06\u6cb9\u95e8\u6746\u964d\u4f4e\u5230\u6700\u4f4e\uff0c\u5e94\u6162\u6162\u964d\u4f4e\u6cb9\u95e8\uff0c\u4ee5\u514d\u5760\u843d\u5931\u63a7\u3002<br>2. \u65e0\u4eba\u673a\u7740\u9646\u540e\uff0c\u5f53\u87ba\u65cb\u6868\u505c\u6b62\u8f6c\u52a8\u4e4b\u524d\uff0c\u8bf7\u52ff\u7528\u624b\u89e6\u78b0\uff0c\u4ee5\u514d\u53d7\u4f24\u3002<br>3. \u87ba\u65cb\u6868\u672a\u505c\u8f6c\u524d\uff0c\u8bf7\u52a1\u5fc5\u4fdd\u6301\u9065\u63a7\u5668\u5728\u624b\u4e2d\uff0c\u4ee5\u4fdd\u8bc1\u65e0\u4eba\u673a\u5728\u5b8c\u5168\u63a7\u5236\u4e2d\u3002<br>4. \u5173\u95ed\u65f6\u8bf7\u5148\u5173\u95ed\u65e0\u4eba\u673a\u518d\u5173\u95ed\u9065\u63a7\u5668\u3002<\/cite><\/blockquote>\n\n\n\n<h2>5.5&nbsp;\u65e0\u4eba\u673a\u5173\u673a\u64cd\u4f5c<\/h2>\n\n\n\n<p>\u5728\u5173\u95ed\u65e0\u4eba\u673a\u7535\u6e90\u4e4b\u524d\u5efa\u8bae\u5148\u6267\u884c\u673a\u8f7d\u7535\u8111\u5173\u673a\u547d\u4ee4\uff0c\u5426\u5219\u53ef\u80fd\u4f1a\u5bfc\u81f4\u673a\u8f7d\u7535\u8111\u78c1\u76d8\u635f\u574f\uff0c\u64cd\u4f5c\u547d\u4ee4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>>sudo shutdown -h 0<strong>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/strong><gwmw style=\"display:none;\"><\/code><\/pre>\n\n\n\n<h1>6\u00a0\u673a\u8f7d\u5e73\u53f0\u8f6f\u4ef6<gwmw style=\"display:none;\"><\/h1>\n\n\n\n<p>\u8fd9\u91cc\u5217\u51fa\u6765\u7684\u8f6f\u4ef6\u5b89\u88c5\u548c\u914d\u7f6e\uff0c\u5728\u521d\u59cb\u955c\u50cf\u4e2d\u90fd\u662f\u914d\u7f6e\u597d\u7684\uff0c\u7528\u6237\u53ef\u4ee5\u9009\u62e9\u91cd\u65b0\u70e7\u5199\u955c\u50cf\u4ee5\u83b7\u5f97\u5b8c\u6574\u529f\u80fd\uff0c\u4e5f\u53ef\u4ee5\u81ea\u884c\u8fdb\u884c\u5b89\u88c5\u548c\u914d\u7f6e\u3002<\/p>\n\n\n\n<h2><a>6.1&nbsp;ROS<\/a>\u7cfb\u7edf\u5b89\u88c5<\/h2>\n\n\n\n<p>\u673a\u8f7d\u5e73\u53f0\u4e0a\u662fUbuntu20, \u9700\u8981\u5b89\u88c5ROS\u3000Noetic\u7cfb\u7edf\u3002\u5b89\u88c5\u65b9\u5f0f\u53c2\u89c1\u7f51\u4e0a\u6559\u7a0b\uff1a http:\/\/wiki.ros.org\/ROS\/Installation\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u5728\u6807\u51c6ROS\u57fa\u7840\u4e0a\uff0c\u8fd8\u5b89\u88c5\u4e86\u53cc\u76ee\u9a71\u52a8\u6a21\u5757\uff08stereo_cam\uff09\uff0cmavlink\u548cmavros\u6a21\u5757\uff0cVINS-fusion\u6a21\u5757\uff0cego-planner\u6a21\u5757\u7b49\u3002\u8fd9\u4e9b\u6a21\u5757\u88c5\u5728\/home\/khadas\/ros_ws\/src\u76ee\u5f55\u4e0b\u3002<\/p>\n\n\n\n<h2>6.2\u00a0\u00a0stereo_cam\u6a21\u5757\u914d\u7f6e<gwmw style=\"display:none;\"><\/h2>\n\n\n\n<p>stereo_cam\u6a21\u5757\u63a7\u5236USB3.0\u8fde\u63a5\u7684\u53cc\u76ee\u786c\u4ef6\uff0c\u540c\u65f6\u63a5\u6536\u53cc\u76ee\u7684GPIO\u3002Stereo_cam\u4f1a\u6839\u636e\u914d\u7f6e\u751f\u6210\u53cc\u76ee\u56fe\u50cf\u3001\u89c6\u5dee\u56fe\u3001\u6df1\u5ea6\u56fe\u548c\u70b9\u4e91\u56fe\u3002\u914d\u7f6e\u6587\u4ef6\u5728launch\/stereo_cam.launch, \u53c2\u6570\u8bf4\u660e\u5982\u4e0b\uff1a<gwmw style=\"display:none;\"><\/p>\n\n\n\n<ul><li>framerate\uff1a\u53cc\u76ee\u5e27\u7387\uff0c\u76ee\u524d\u652f\u630110\uff0c15\uff0c20\uff0c30\uff0c60\u3002\u76ee\u524d\u6df1\u5ea6\u56fe\u6700\u5927\u8f93\u51fa\u9891\u7387\u662f20fps\u3002<\/li><li>stereo_combined\uff1a\u53cc\u76ee\u5408\u5e76\u6210\u4e00\u5e27\u6216\u5de6\u53f3\u56fe\u8f93\u51fa\u3002\u7f3a\u7701\u662ffalse\uff0c\u5de6\u53f3\u56fe\u8f93\u51fa\u3002<\/li><li>depth_enabled\uff1a\u662f\u5426\u6253\u5f00\u6df1\u5ea6\u56fe\u8ba1\u7b97\u548c\u8f93\u51fa\u3002<\/li><\/ul>\n\n\n\n<p>\u53cc\u76ee\u53c2\u6570\u914d\u7f6e\u6587\u4ef6\uff0cconfig\/stereo_param.yaml\u3002\u8fd9\u91cc\u6df1\u5ea6\u56fe\u8ba1\u7b97\u7528\u7684\u53cc\u76ee\u76f8\u673a\u53c2\u6570\u3002<\/p>\n\n\n\n<h2>6.3&nbsp;&nbsp;mavros\u6a21\u5757\u914d\u7f6e<\/h2>\n\n\n\n<p>mavros\u662f\u57fa\u4e8e1.5.0\u7248\u672c\u7684<a href=\"https:\/\/github.com\/mavlink\/mavros.git\">https:\/\/github.com\/mavlink\/mavros.git<\/a>\uff0c\u6211\u4eec\u505a\u4e86\u5982\u4e0b\u4fee\u6539\uff1a<\/p>\n\n\n\n<ul><li>\u5750\u6807\u7cfb\u7684\u4fee\u6539\u548ctransform\u7684\u53d1\u5e03\u3002<\/li><li>\u4fee\u6539\u4e86\/mavros\/local_position\/odom\u7684\u5750\u6807\u7cfb\u4e3a\u201cworld\u201d\u3002<\/li><\/ul>\n\n\n\n<h2>6.4&nbsp;IMU\u6a21\u5757\u914d\u7f6e<\/h2>\n\n\n\n<p>\u56e0\u4e3a\u6211\u4eec\u4f7f\u7528\u4e86\u98de\u63a7IMU\uff0c\u9700\u8981\u914d\u7f6emavros\uff0c \u4f7f\u5176\u8f93\u51fa200hz.<\/p>\n\n\n\n<p>&gt;rosservice call \/mavros\/set_stream_rate 0 10 1<\/p>\n\n\n\n<p>&gt;rosrun mavros mavcmd long 511 105 3000 0 0 0 0 0<\/p>\n\n\n\n<h2>6.5&nbsp;PX4\u98de\u63a7\u7cfb\u7edf\u914d\u7f6e<\/h2>\n\n\n\n<p>\u98de\u63a7\u7cfb\u7edf\u9700\u8981\u914d\u7f6e\u6210\u5173\u95edGPS\u548cCompass\uff0c\u6253\u5f00\u878d\u5408Vision\u7684\u6a21\u5f0fEKF2\u3002\u53ef\u67e5\u770b\u98de\u63a7\u7684\u914d\u7f6e\u53c2\u6570\u3002<\/p>\n\n\n\n<p>QGC: \u8bbe\u7f6eEKF2_AID_MASK\u4e3a24<\/p>\n\n\n\n<p>QGC: \u8bbe\u7f6eEKF2_HGT_MODE\u4e3avision<\/p>\n\n\n\n<p>QGC: \u8bbe\u7f6e EKF2_EV_DELAY\u4e3a0ms.<\/p>\n\n\n\n<p>QGC: \u8bbe\u7f6emavlink\u4e32\u53e3\u901f\u7387921600\uff0conboard\u6a21\u5f0f<\/p>\n\n\n\n<p>QGC\uff1a\u8bbe\u7f6e\u5bf9\u5e94\u7684GYRO\/ACC\u8bef\u5dee\u7cbe\u5ea6<\/p>\n\n\n\n<h2>6.6&nbsp;VIO\u6a21\u5757\u914d\u7f6e<\/h2>\n\n\n\n<p>\u6211\u4eec\u4f7f\u7528VINS_Fusion(<a href=\"https:\/\/github.com\/HKUST-Aerial-Robotics\/VINS-Fusion\">https:\/\/github.com\/HKUST-Aerial-Robotics\/VINS-Fusion<\/a>)\u4f5c\u4e3a\u53cc\u76ee\u5b9a\u4f4d\u6a21\u5757\uff0c\u4e3b\u8981\u4fee\u6539\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul><li>\u63a5\u6536stereo_cam\u6a21\u5757\u53d1\u51fa\u7684\u53cc\u76ee\u56fe\u50cf\u548cmavros\u53d1\u51faimu\u6d88\u606f\u3002\u6d88\u606f\u5b9a\u4e49\u53ef\u4ee5\u5728config\/stereo\u4e2d\u7684yaml\u6587\u4ef6\u91cc\u4fee\u6539\u3002\u53cc\u76ee\u7684\u5185\u53c2\uff0c\u53cc\u76ee\u76f8\u673a\u548cIMU\u4e4b\u95f4\u7684\u5916\u53c2\u4e5f\u5728\u8fd9\u91cc\u4fee\u6539\u3002\u5177\u4f53\u53c2\u6570\u7684\u6807\u5b9a\u65b9\u6cd5\u53ef\u4ee5\u53c2\u89c1kalibr\u5de5\u5177\u8bf4\u660e\u548c\u7f51\u4e0a\u6559\u7a0b\u3002<\/li><li>\u53d1\u5e03world\u5750\u6807\u7cfb\u4e0b\u7684\/mavros\/vision_pose\/pose\uff0c\u548cTransform\u3002Mavros\u4f1a\u8f6c\u6362\u5230map\u5750\u6807\u7cfb\uff0c\u8fdb\u800c\u53d1\u9001\u7ed9\u98de\u63a7\u3002<\/li><li>VINS_Fusion\u7684\u5de5\u4f5c\u539f\u7406\uff0c\u53ef\u4ee5\u53c2\u89c1\u5176\u5b98\u65b9\u7f51\u7ad9\u3002<\/li><\/ul>\n\n\n\n<h2><a>6.7&nbsp; Planner<\/a>\u6a21\u5757\u914d\u7f6e<\/h2>\n\n\n\n<p><strong>\u6211\u4eec\u9002\u914d\u4e86<\/strong><strong>ego-planner<\/strong><strong>\u9879\u76ee\u6765\u4f5c\u4e3a\u907f\u969c\u5bfc\u822a\u6a21\u5757\uff0c\u8be6\u60c5\u53ef\u4ee5\u53c2\u89c1<\/strong><a href=\"https:\/\/github.com\/ZJU-FAST-Lab\/ego-planner\">https:\/\/github.com\/ZJU-FAST-Lab\/ego-planner<\/a><strong>\u3002\u5e76\u505a\u4e86\u5982\u4e0b\u4fee\u6539\uff1a<\/strong><strong><\/strong><\/p>\n\n\n\n<ul><li>\u53bb\u9664\u4e86\u6a21\u62df\u5668\uff0c\u53d6\u800c\u4ee3\u4e4b\u7684\u662fmavros_controller\uff0c\u6765\u63a7\u5236PX4\u3002 \u5220\u9664\u4e86src\/uav_simulator\/Utils\/rviz_plugins\uff1b\u589e\u52a0\u4e86\/reference\/flatsetpoint\u6d88\u606f\uff0c\u8fd9\u4e2a\u6d88\u606f\u4f20\u9012\u89c4\u5212\u597d\u7684\u8def\u5f84\u7ed9mavros_controller, \u540e\u8005\u5728\u53d1\u9001setpoint_local\u7ed9\u98de\u63a7\u3002<\/li><li>\u6211\u4eec\u91c7\u7528\u6df1\u5ea6\u56fe\uff0c\u98de\u63a7\u7684\u4f4d\u59ff\uff08\/mavros\/local_position\/odom\uff09\u4f5c\u4e3aego-planner\u7684\u8f93\u5165\u3002<\/li><\/ul>\n\n\n\n<p><strong>\u589e\u52a0\u4e86<\/strong><strong>mavros_controller<\/strong><strong>\uff08<\/strong>https:\/\/github.com\/Jaeyoung-Lim\/mavros_controllers<strong>\uff09\u6a21\u5757\u6765\u63a7\u5236\u98de\u63a7\u3002\u4e3b\u8981\u4fee\u6539\u5982\u4e0b\uff1a<\/strong><strong><\/strong><\/p>\n\n\n\n<ul><li>\u9488\u5bf9\u9065\u63a7\u5668\uff0c\u5c06\u98de\u63a7\u72b6\u6001\u63a7\u5236\uff08GUIDED, POS_HOLD\u7b49\uff09\u4ea4\u7ed9\u9065\u63a7\u5668channel 5\u3002<\/li><li>\u63a5\u6536\u9065\u63a7\u5668channel5\u7684\u4fe1\u53f7\uff0c\u6765\u89e6\u53d1\u5f00\u59cb\u4fe1\u53f7\u3002mavros_controllers\u6536\u5230\u5f00\u59cb\u4fe1\u53f7\u65f6\u5019\uff0c\u4f1a\u6839\u636e\u914d\u7f6e\u53d1\u9001\u76ee\u6807\uff08goal\uff09\u7ed9ego-planner\uff0c\u5e76\u76d1\u542c\/reference\/flatsetpoint\u6d88\u606f\uff0c\u8f6c\u6362\u6210setpoint_local\u6d88\u606f\u53d1\u9001\u7ed9mavros\uff0c\u6700\u7ec8\u63a7\u5236PX4\u3002<\/li><\/ul>\n\n\n\n<p><strong>\u8fd0\u884c\u811a\u672c\u53c2\u89c1<\/strong><strong>launch\/vim3.launch<\/strong><strong>\uff0c\u5176\u4e2d\u9700\u8981\u914d\u7f6e\u53c2\u6570\u5982\u4e0b\uff1a<\/strong><strong><\/strong><\/p>\n\n\n\n<ul><li>Depth\u76f8\u673a\u7684\u53c2\u6570width, height, cx, cy, fx, fy\u3002\u8fd9\u4e9b\u5728stereo_cam\u4e2d\u7684\u6df1\u5ea6\u56fe\u50cf\u4fe1\u606f\u7684\u6d88\u606f\u4e2d\u5f97\u5230\u3002<\/li><li>\u65e0\u4eba\u673a\u524d\u8fdb\u6700\u5927\u901f\u5ea6\u548c\u52a0\u901f\u5ea6 max_vel, max_acc\u3002<\/li><li>\u6d4b\u8bd5\u4e2d\u4f7f\u7528\u7684\u76ee\u6807\u53c2\u6570goal_dist\uff0c\u662f\u6bcf\u6b21\u51fa\u53d1\u5f00\u59cb\u4fe1\u53f7\uff0cmavros_controller\u4f1a\u51fa\u53d1\u65e0\u4eba\u673a\u524d\u65b9\u591a\u8fdc\u7684\u5750\u6807\u4f5c\u4e3a\u5047\u60f3\u76ee\u6807\u3002<\/li><\/ul>\n\n\n\n<h1>7&nbsp;&nbsp;\u4ea7\u54c1\u4f7f\u7528\u6ce8\u610f\u4e8b\u9879<\/h1>\n\n\n\n<h2>7.1&nbsp;&nbsp;IMU\u2014\u52a0\u901f\u5ea6\u8ba1\u6821\u51c6<\/h2>\n\n\n\n<h3>7.1.1&nbsp;\u4ec0\u4e48\u60c5\u51b5\u4e0b\u9700\u8981\u6821\u51c6\u52a0\u901f\u5ea6\u8ba1<\/h3>\n\n\n\n<p>\u65e0\u4eba\u673a\u7ecf\u8fc7\u957f\u8ddd\u79bb\u8fd0\u8f93\u6216\u8005\u5760\u843d\u540e\uff0c\u7ed3\u6784\u4f1a\u53d1\u751f\u7ec6\u5fae\u53d8\u5316\uff0c\u5c06\u5bfc\u81f4\u6570\u636e\u5f02\u5e38\uff0c\u98de\u884c\u8fc7\u7a0b\u4e2d\u53ef\u80fd\u51fa\u73b0\u5f80\u67d0\u4e2a\u65b9\u5411\u98d8\u79fb\u4e25\u91cd\u7684\u60c5\u51b5\uff0c\u6b64\u65f6\u9700\u91cd\u65b0\u6821\u51c6\u52a0\u901f\u5ea6\u8ba1\uff0c\u53ef\u4ee5\u7ecf\u5e38\u6821\u51c6\u4ee5\u4f7f\u52a0\u901f\u5ea6\u8ba1\u5de5\u4f5c\u5728\u6700\u4f73\u72b6\u6001\uff0c\u5982\u98de\u884c\u6b63\u5e38\u5219\u65e0\u9700\u6821\u51c6\u3002<gwmw style=\"display:none;\"><\/p>\n\n\n\n<p>\u52a0\u901f\u5ea6\u8ba1\u7684\u6821\u51c6\u9700\u8981\u4e00\u5757\u6c34\u5e73\u7684\u684c\u9762\u6216\u8005\u5730\u9762\uff0c\u5c06\u4ee5\u5b83\u4f5c\u4e3a\u6821\u51c6\u65f6\u7684\u6c34\u5e73\u5782\u76f4\u59ff\u6001\u53c2\u8003\uff0c\u91cd\u65b0\u4e0b\u8f7d\u56fa\u4ef6\u540e\u4e5f\u9700\u8981\u8fdb\u884c\u6821\u51c6\u3002<gwmw style=\"display:none;\"><\/p>\n\n\n\n<blockquote class=\"wp-block-quote\"><p><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/p><cite><strong>\u6ce8\u610f\u4e8b\u9879\uff1a<\/strong><br>\u8c03\u8bd5\u4e0e\u6821\u51c6\u8fc7\u7a0b\u4e2d\u4e00\u5b9a\u4e0d\u8981\u5b89\u88c5\u87ba\u65cb\u6868\uff0c\u4ee5\u514d\u9020\u6210\u4eba\u8eab\u4f24\u5bb3\u6216\u8d22\u4ea7\u635f\u5931\u3002<\/cite><\/blockquote>\n\n\n\n<p>\u9996\u5148\u8ba9\u65e0\u4eba\u673a\u5904\u5728\u65ad\u7535\u72b6\u6001\uff0c\u5c06\u98de\u63a7\u901a\u8fc7USB\u4e0e\u7535\u8111\u8fde\u63a5\uff0c\u6253\u5f00QGroundControl\u5730\u9762\u7ad9\u8f6f\u4ef6\uff0c\u8f6f\u4ef6\u4f1a\u81ea\u52a8\u8fde\u63a5\u98de\u63a7\uff0c\u70b9\u51fb\u9876\u90e8\u5de5\u5177\u680f\u4e2d\u6700\u5de6\u4fa7\u7684\u201c\u9f7f\u8f6e\u201d\u56fe\u6807\uff0c\u5982\u56fe7.1\u6240\u793a\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-19.png\" alt=\"\" class=\"wp-image-751\" width=\"591\" height=\"129\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-19.png 591w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-19-300x65.png 300w\" sizes=\"(max-width: 591px) 100vw, 591px\" \/><figcaption><strong>\u56fe7.1 \u52a0\u901f\u5ea6\u8ba1\u516d\u9762\u6821\u51c6<\/strong><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n\n<p>\u70b9\u51fb\u201cVehicle Steup\uff08\u8bbe\u5907\u8bbe\u7f6e\uff09\u201d\u4e0b\u7684\u201cSensors\uff08\u4f20\u611f\u5668\uff09\u201d\u83dc\u5355\uff0c\u9009\u62e9\u201cAccel erometer\u201d\uff08\u52a0\u901f\u5ea6\u8ba1\u6821\u51c6\uff09\uff0c\u5982\u56fe7.2\u6240\u793a\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-20.png\" alt=\"\" class=\"wp-image-752\" width=\"716\" height=\"394\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-20.png 591w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-20-300x165.png 300w\" sizes=\"(max-width: 716px) 100vw, 716px\" \/><figcaption><strong>\u56fe7.2 \u52a0\u901f\u5ea6\u8ba1\u516d\u9762\u6821\u51c6<\/strong><\/figcaption><\/figure><\/div>\n\n\n<p>\u70b9\u51fb\u201cOK\u201d\u4e4b\u540e\u5f00\u59cb\u8fdb\u884c\u52a0\u901f\u5ea6\u8ba1\u6821\u51c6\u6b65\u9aa4\uff0c\u6839\u636e\u5c4f\u5e55\u4e0a\u76846\u4e2a\u56fe\u6807\u63d0\u793a\uff0c\u5c06\u65e0\u4eba\u673a\u6309\u7167\u63d0\u793a\u653e\u7f6e\uff0c\u4e00\u65e6\u63d0\u793a\uff08\u65b9\u5411\u56fe\u6807\u4f1a\u53d8\u4e3a\u9ec4\u8272\uff09\uff0c\u8bf7\u4fdd\u6301\u65e0\u4eba\u673a\u9759\u6b62\uff0c\u5b8c\u6210\u5f53\u524d\u65b9\u5411\u7684\u6821\u51c6\u540e\uff0c\u5c4f\u5e55\u4e0a\u7684\u76f8\u5173\u56fe\u6807\u5c06\u53d8\u4e3a\u7eff\u8272\u3002\u6309\u7167\u63d0\u793a\u4f9d\u6b21\u5b8c\u62106\u4e2a\u65b9\u5411\u7684\u6821\u51c6\uff0c\u6821\u51c6\u65f6\u63d0\u793a\u6846\u5982\u4e0b\u56fe7.3\u6240\u793a\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-21.png\" alt=\"\" class=\"wp-image-753\" width=\"665\" height=\"376\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-21.png 591w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-21-300x170.png 300w\" sizes=\"(max-width: 665px) 100vw, 665px\" \/><figcaption><strong>\u56fe 7.3 \u6821\u51c6\u4e2d\u63d0\u793a\u4fe1\u606f<\/strong><\/figcaption><\/figure><\/div>\n\n\n<p>\u5f53\u6240\u6709\u65b9\u5411\u6821\u51c6\u5b8c\u6bd5\u540e\uff0cQGroundControl\u5c06\u663e\u793a\u6821\u51c6\u5b8c\u6210\uff08\u6240\u6709\u65b9\u5411\u56fe\u6807\u5c06\u4ee5\u7eff\u8272\u663e\u793a\uff0c\u8fdb\u5ea6\u6761\u5c06\u5b8c\u5168\u586b\u6ee1\uff09\u3002\u63d0\u793a\u6846\u5982\u4e0b\u56fe7.4\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-22.png\" alt=\"\" class=\"wp-image-754\" width=\"679\" height=\"381\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-22.png 591w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-22-300x169.png 300w\" sizes=\"(max-width: 679px) 100vw, 679px\" \/><figcaption><strong>\u56fe7.4 \u6821\u51c6\u5b8c\u6210\u63d0\u793a\u4fe1\u606f<\/strong><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n\n<h2>7.2&nbsp;IMU\u2014\u6c34\u5e73\u6821\u51c6<\/h2>\n\n\n\n<h3>7.2.1\u00a0\u4ec0\u4e48\u60c5\u51b5\u4e0b\u9700\u8981\u8fdb\u884c\u6c34\u5e73\u6821\u51c6<gwmw style=\"display:none;\"><\/h3>\n\n\n\n<p>\u5c06\u65e0\u4eba\u673a\u6c34\u5e73\u653e\u7f6e\uff0c\u67e5\u770bQGroundControl\u91cc\u7684\u59ff\u6001\u4eea\uff08\u9876\u90e8\u4e3a\u84dd\u8272\uff0c\u5e95\u90e8\u4e3a\u7eff\u8272\uff09\u663e\u793a\u5f53\u524d\u662f\u5426\u6c34\u5e73\uff0c\u5982\u4e0d\u6c34\u5e73\uff0c\u5219\u53ef\u4ee5\u4f7f\u7528\u6c34\u5e73\u6821\u51c6\u6765\u8c03\u8282\u8865\u507f\u5e76\u5bf9\u9f50\u3002\u6c34\u5e73\u6821\u51c6\u53ef\u4ee5\u4f7f\u65e0\u4eba\u673a\u4ea7\u751f\u6700\u4f73\u7684\u98de\u884c\u6027\u80fd\u3002 \u5982\u679c\u60a8\u5728\u98de\u884c\u8fc7\u7a0b\u4e2d\u53d1\u73b0\u65e0\u4eba\u673a\u6301\u7eed\u5f80\u67d0\u4e2a\u65b9\u5411\u6f02\u79fb\uff0c\u4e5f\u53ef\u4ee5\u8fdb\u884c\u6c34\u5e73\u6821\u51c6\u3002\u5982\u56fe7.5\u6240\u793a\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" width=\"591\" height=\"197\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-23.png\" alt=\"\" class=\"wp-image-755\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-23.png 591w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-23-300x100.png 300w\" sizes=\"(max-width: 591px) 100vw, 591px\" \/><figcaption><strong>\u56fe7.5 \u59ff\u6001\u4eea\u56fe\u6807<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n\n<h3>7.2.2&nbsp;&nbsp;\u6c34\u5e73\u6821\u51c6\u6b65\u9aa4<\/h3>\n\n\n\n<p>\u9996\u5148\u8ba9\u65e0\u4eba\u673a\u5904\u5728\u65ad\u7535\u72b6\u6001\uff0c\u5c06\u98de\u63a7\u901a\u8fc7USB\u4e0e\u7535\u8111\u8fde\u63a5\uff0c\u6253\u5f00QGroundControl\u5730\u9762\u7ad9\u8f6f\u4ef6\uff0c\u8f6f\u4ef6\u4f1a\u81ea\u52a8\u8fde\u63a5\u98de\u63a7\uff0c\u70b9\u51fb\u9876\u90e8\u5de5\u5177\u680f\u4e2d\u6700\u5de6\u4fa7\u7684\u201c\u9f7f\u8f6e\u201d\u56fe\u6807\u3002\u70b9\u51fb\u201cVehicle Steup\uff08\u8bbe\u5907\u8bbe\u7f6e\uff09\u201d\u4e0b\u7684\u201cSensors\uff08\u4f20\u611f\u5668\uff09\u201d\u83dc\u5355\uff0c\u9009\u62e9\u201cLevel Horizon\u201d\uff08\u6c34\u5e73\u6821\u51c6\uff09\uff0c\u5982\u56fe7.6\u6240\u793a\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-24.png\" alt=\"\" class=\"wp-image-756\" width=\"714\" height=\"290\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-24.png 591w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-24-300x122.png 300w\" sizes=\"(max-width: 714px) 100vw, 714px\" \/><figcaption><strong>\u56fe7.6 \u59ff\u6001\u4eea\u56fe\u6807<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/gwmw><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n\n<p>\u5c06\u65e0\u4eba\u673a\u653e\u7f6e\u4e8e\u6c34\u5e73\u72b6\u6001\uff0c\u70b9\u51fb\u53f3\u8fb9\u7684\u201cOK\u201d\u5f00\u59cb\u8fdb\u884c\u6c34\u5e73\u6821\u51c6\uff0c\u7b49\u5230\u6821\u51c6\u8fc7\u7a0b\u7ed3\u675f\uff0c\u8fdb\u5ea6\u6761\u5c06\u5b8c\u5168\u586b\u6ee1\uff0c\u5982\u56fe7.7\u6240\u793a\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-25.png\" alt=\"\" class=\"wp-image-757\" width=\"728\" height=\"276\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-25.png 591w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-25-300x114.png 300w\" sizes=\"(max-width: 728px) 100vw, 728px\" \/><figcaption><strong>\u56fe7.7 \u59ff\u6001\u4eea\u56fe\u6807<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n\n<p>\u5b8c\u6210\u6c34\u5e73\u6821\u51c6\u540e\uff0c\u5728QGroundControl\u98de\u884c\u754c\u9762\u4e2d\u68c0\u67e5\u59ff\u6001\u4eea\u7684\u5730\u5e73\u7ebf\u662f\u5426\u5904\u4e8e\u6c34\u5e73\u4f4d\u7f6e\uff08\u9876\u90e8\u4e3a\u84dd\u8272\uff0c\u5e95\u90e8\u4e3a\u7eff\u8272\uff09\u3002<\/p>\n\n\n\n<h2><a>7.3&nbsp;\u89c6\u89c9\u5b9a\u4f4d\u529f\u80fd\u53ef\u80fd\u51fa\u73b0\u7684\u95ee\u9898<\/a><\/h2>\n\n\n\n<p>\u5f53\u65e0\u4eba\u673a\u98de\u884c\u63d0\u793a\u4e0d\u6b63\u5e38\uff0c\u6216\u8005\u914d\u7f6e\u4fee\u6539\uff0c\u6216\u8005\u6709\u649e\u51fb\u7b49\u5f02\u5e38\u4e8b\u4ef6\u540e\u5efa\u8bae\u91cd\u65b0\u6821\u51c6\u5404\u4e2a\u4f20\u611f\u5668\u3002\u5e76\u4e14\u9a8c\u8bc1\u5404\u4e2a\u6a21\u5757\u8fd0\u884c\u6b63\u5e38\u3002<\/p>\n\n\n\n<h2><a>7.4 \u89c6\u89c9\u5b9a\u4f4d\u529f\u80fd\u9a8c\u8bc1<\/a><\/h2>\n\n\n\n<ul><li>\u5229\u7528PC\u673a\u5668\u76f4\u63a5\u767b\u5f55\u5230\u89c6\u89c9\u6a21\u5757\uff08ssh khadas@192.168.2.20\uff09\uff0c\u7136\u540e\u76d1\u542c\u89c6\u89c9\u5b9a\u4f4d\u6d88\u606f\uff08rostopic echo \/mavros\/vision_pose\/pose\uff09\u3002\u4e5f\u53ef\u4ee5\u5728\u6709 ROS\u529f\u80fd\u7684PC\u673a\u5668\u4e0a\u901a\u8fc7ROS remote\u8fde\u63a5\uff0c\u76f4\u63a5\u76d1\u542c\u5b9a\u4f4d\u6d88\u606f\uff0c\u6216\u8005\u5728rviz\u754c\u9762\u89c2\u5bdf\/mavros\/vision_pose\/pose\u3002<\/li><li>\u9a8c\u8bc1\u65b9\u6cd5\uff1a\u624b\u6301\u65e0\u4eba\u673a\u8fdb\u884c\u524d\u540e\u5de6\u53f3\u7b49\u8fd0\u52a8\uff0c\u5b9a\u4f4d\u6d88\u606f\u59cb\u7ec8\u53cd\u5e94\u4e86\u6b63\u786e\u7684\u8fd0\u52a8\u8d8b\u52bf\uff0c\u5e76\u4e14\u5f53\u65e0\u4eba\u673a\u653e\u56de\u539f\u70b9\u65f6\u5019\uff0c\u5b9a\u4f4d\u6d88\u606f\u4e5f\u57fa\u672c\u56de\u5230\u539f\u70b9\u5750\u6807\u3002\u5982\u56fe7.8\u3002<\/li><\/ul>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" width=\"590\" height=\"353\" src=\"http:\/\/www.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-26.png\" alt=\"\" class=\"wp-image-758\" srcset=\"http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-26.png 590w, http:\/\/support.visbot.com.cn\/wp-content\/uploads\/2022\/11\/image-26-300x179.png 300w\" sizes=\"(max-width: 590px) 100vw, 590px\" \/><figcaption><strong>\u56fe7.8 \u65e0\u4eba\u673a\u653e\u56de\u5230\u539f\u70b9<\/strong><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/figcaption><\/figure><\/div>\n\n\n<h2>7.5\u00a0\u53cc\u76ee\u76f8\u673a\u6807\u5b9a<gwmw style=\"display:none;\"><\/h2>\n\n\n\n<p>\u5f53\u65e0\u4eba\u673a\u53cc\u76ee\u6a21\u5757\u53d1\u751f\u5916\u529b\u649e\u51fb\uff0c\u6216\u8005\u98de\u63a7\u6a21\u5757\u548c\u53cc\u76ee\u6a21\u5757\u4f4d\u7f6e\u53d1\u751f\u53d8\u5316\u7684\u65f6\u5019\uff0c\u9700\u8981\u91cd\u65b0\u6807\u5b9a\u53cc\u76ee\u7cfb\u7edf\u3002<\/p>\n\n\n\n<p>\u89c6\u89c9\u6a21\u5757\u63d0\u4f9b\u4e86\u53cc\u76ee\u7684ROS\u9a71\u52a8\uff0c\u548cmavros\u5e94\u7528\u3002\u7528\u6237\u53ef\u4ee5\u901a\u8fc7rostopic\u770b\u5230\/stereo_cam\/left\/image_raw,\/stereo_cam\/right\/image_raw,\u548c\/mavros\/imu\/data_raw\u3002\u8fd0\u884crosbag record \u6765\u8bb0\u5f55\u8fd9\u4e9b\u6d88\u606f\uff0c\u7136\u540e\u8fdb\u884c\u6821\u51c6\u3002<gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/p>\n\n\n\n<p>\u6211\u4eec\u4f7f\u7528kalibr\uff08<a href=\"https:\/\/github.com\/ethz-asl\/kalibr\">https:\/\/github.com\/ethz-asl\/kalibr<\/a>\uff09\u5de5\u5177\u6807\u5b9a\u53cc\u76ee\u548cIMU\u7684\u5185\u5916\u53c2\u6570\uff0c\u7528\u6237\u81ea\u884c\u53ef\u4ee5\u53c2\u89c1\u7f51\u4e0a\u6821\u51c6\u7684\u6559\u7a0b\u3002<\/p>\n\n\n\n<p>\u6807\u5b9a\u540e\u7684\u53c2\u6570\u9700\u8981\u5199\u5165\u76f8\u5173\u7b97\u6cd5\u7a0b\u5e8f\u7684\u914d\u7f6e\u6587\u4ef6\u3002\u8be6\u60c5\u89c1\u8f6f\u4ef6\u914d\u7f6e\u4e2d\u7684stereo_cam\u6a21\u5757\u914d\u7f6e\uff0c\u548cVIO\u6a21\u5757\u914d\u7f6e\u3002<gwmw style=\"display:none;\"><\/p>\n\n\n\n<h2><a>7.6&nbsp;\u673a\u8f7d\u5e73\u53f0\u955c\u50cf\u6062\u590d<\/a><\/h2>\n\n\n\n<p>\u6211\u4eec\u63d0\u4f9b\u9884\u88c5\u597d\u5e94\u7528\u7684\u955c\u50cf\uff0c\u7528\u6237\u53ef\u4ee5\u901a\u8fc7\u70e7\u5f55\u5de5\u5177\uff0c\u6216\u8005SDCard\u6765\u70e7\u5f55\u955c\u50cf\u3002\u5177\u4f53\u70e7\u5f55\u65b9\u6cd5\u53c2\u89c1VIM3\u7684\u76f8\u5173\u8bf4\u660e\u3002<\/p>\n\n\n\n<p><a href=\"https:\/\/docs.khadas.com\/linux\/vim3\/InstallOsIntoEmmc.html\">https:\/\/docs.khadas.com\/linux\/vim3\/InstallOsIntoEmmc.html<\/a><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><gwmw style=\"display:none;\"><\/p>\n\n\n\n<p><a href=\"https:\/\/docs.khadas.com\/linux\/vim3\/InstallOsIntoSdusb.html\">https:\/\/docs.khadas.com\/linux\/vim3\/InstallOsIntoSdusb.html<\/a><gwmw style=\"display:none;\"><\/p>\n\n\n\n<h2><a>7.7&nbsp;\u9502\u7535\u6c60\u4f7f\u7528\u6ce8\u610f\u4e8b\u9879<\/a><\/h2>\n\n\n\n<ul><li>\u65e0\u4eba\u673a\u7535\u6c60\u5728\u4f7f\u7528\u65f6\u7535\u6c60\u7535\u538b\u4e0d\u5f97\u4f4e\u4e8e14.6V\uff0c\u5426\u5219\u4f1a\u5bfc\u81f4\u7535\u6c60\u635f\u574f\u3002<\/li><li>\u65e0\u4eba\u673a\u4e0d\u4f7f\u7528\u65f6\uff0c\u5e94\u5c06\u7535\u6c60\u53d6\u51fa\uff0c\u5e76\u4e14\u5355\u72ec\u5b58\u653e\u3002<\/li><li>\u4e0d\u53ef\u5c06\u7535\u6c60\u653e\u7f6e\u4e8e\u9760\u8fd1\u70ed\u6e90\u3001\u6613\u71c3\u6613\u7206\u54c1\u7684\u533a\u57df\u3002<\/li><li>\u907f\u514d\u7535\u6c60\u957f\u671f\u653e\u7f6e\u5728\u4f4e\u6e29\u7684\u5ba4\u5916\uff0c\u5426\u5219\u7535\u6c60\u6d3b\u6027\u5c06\u5927\u5927\u964d\u4f4e\uff0c\u751a\u81f3\u9020\u6210<\/li><li>\u9502\u7535\u6c60\u6027\u80fd\u4e0d\u53ef\u9006\u7684\u4e0b\u964d\u3002<\/li><li>\u4fdd\u6301\u5b58\u653e\u73af\u5883\u5e72\u71e5\uff0c\u52ff\u5c06\u7535\u6c60\u653e\u7f6e\u4e8e\u53ef\u80fd\u6f0f\u6c34\u548c\u6f6e\u6e7f\u7684\u4f4d\u7f6e\u3002<\/li><li>\u5982\u679c\u60a8\u8d85\u8fc710\u5929\u4e0d\u4f7f\u7528\u7535\u6c60\uff0c\u5c06\u7535\u6c60\u653e\u7535\u81f340%\u81f365%\u7684\u6700\u4f73\u5b58\u653e\u7535<\/li><li>\u91cf\u8fdb\u884c\u5b58\u653e\uff0c\u5207\u52ff\u5728\u5b8c\u5168\u653e\u7535\u72b6\u6001\u4e0b\u957f\u671f\u653e\u7f6e\uff0c\u4ee5\u514d\u7535\u6c60\u8fdb\u5165\u8fc7\u653e\u72b6\u6001<\/li><li>\u9020\u6210\u7535\u82af\u635f\u5bb3\uff0c\u5426\u5219\u5c06\u65e0\u6cd5\u6062\u590d\u4f7f\u7528\u3002<\/li><li>\u5efa\u8bae2-3\u4e2a\u6708\u91cd\u65b0\u5145\u653e\u7535\u4e00\u6b21\uff0c\u4ee5\u4fdd\u8bc1\u7535\u6c60\u6d3b\u6027\u3002<\/li><li>\u5728\u957f\u671f\u5b58\u50a8\u65f6\uff0c\u52a1\u5fc5\u5728-10\u00b0C~45\u00b0C\u8303\u56f4\u5185\u7684\u73af\u5883\u4e2d\u5b58\u653e\u3002<\/li><\/ul>\n\n\n\n<h2>7.8\u00a0\u6545\u969c\u6392\u9664<gwmw style=\"display:none;\"><gwmw 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