提出为实现小型四旋翼无人机自主飞行控制，设计一种基于视觉的飞行控制方法，并搭建嵌入式控制架构飞行试验平台。在控制过程中，光流信息与姿态角信息进行融合用于估计无人机水平位置信息，利用获取到的水平位置信息作为内外环结构的比例微分积分(Proportion integration differentiation, PID)控制器外环反馈信息。不同于传统的基于地面站的控制架构试验平台，该飞行系统中采用了一个嵌入式控制架构的试验平台。该平台依靠机载嵌入计算机进行光流计算、运动状态估计，并采用机载飞行控制器执行控制算法。这种嵌入式控制架构工程实现难度高，但更利于实现四旋翼无人机的全自主飞行控制。试验结果表明，提出的设计方法取得了较好全自主飞行控制效果。

An autonomous control strategy is proposed and an embedded control system architecture platform is developed for a quadrotor unmanned aerial vehicle based on optical flow vision system. The self-motion estimation is obtained by fusing the optical flow data and data from the on-board inertial measurement unit, and then an inner-outer-loop proportion integration differentiation (PID) controller used the self-motion estimation as feedback signal. Unlike the traditional host-based control system architecture, the motion states are estimated through an onboard embedded computer and the control algorithm is operated through an onboard flight control board. Difficulty as the embedded control system architecture platform is, it is very useful for autonomous control flight. Experiment results are included to demonstrate the good performance of the proposed design.