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视觉导航方法是无人机自主着陆领域的一种有效的方法。设计了一种由一个圆环和一个三基色圆构成的地标,并基于该地标给出无人机位姿估计的研究方法。该研究方法首先利用图像外部的圆环来确定目标区域,然后根据内部的三基色圆及不同颜色区域的交界线估计飞机与着陆平台的姿态参量和相对位置。在不同高度位置展开实验验证,实验数据表明,该方法能精确解算出无人机与着陆区域的相对位姿参量,达到了无人机在下降过程中实时性的要求。
Visual navigation method is an effective method in the autonomous landing of UAVs. A landmark composed of a ring and a trichromatic circle is designed. Based on the landmark, a research method of pose estimation of the UAV is given. The method firstly uses the circle outside the image to determine the target area, and then estimates the attitude parameters and the relative positions of the aircraft and the landing platform according to the internal tricolor circles and the boundaries of different color areas. Experimental results at different heights are carried out. The experimental data show that this method can accurately calculate the relative pose and attitude parameters of the UAV and the landing area, and achieve the real-time requirement of the UAV in the descent process.