A Discrimination Method for Autonomous Landing Area of ​​Aircraft

Abstract

The invention discloses an aircraft autonomous landing region judging method based on self adaptive region division and window communication. The method comprises the following steps that image frames are extracted from video streaming collected by an aircraft, and in addition, the image of the frame is converted into a binary image after being subjected to preprocessing and image division; the binary image is divided by using a dimension self adaption window as the unit, in addition, the comparison is carried out based on the set noise threshold, and whether a region corresponding to each window is a flat region or a obstacle region is judged; all of the windows with the regions judged to be the flat regions in the binary image are subjected to window communication and merging, so the obtained communication region is used as a region allowing the aircraft to land. The aircraft autonomous landing region judging method has the advantages that the flat region allowing the aircraft to land can be automatically judged according to the aerial images of the aircraft, the autonomous landing of the aircraft can be realized, the judging results are accurate and reliable, the efficiency is high, and the practicability is high.

Description

Technical field [0001] The invention relates to a method for discriminating the autonomous landing area of ​​an aircraft based on adaptive area segmentation and window connection, and belongs to the technical field of autonomous landing of aircraft. Background technique [0002] The navigation technologies currently used for aircraft (UAV) landing mainly include: inertial navigation, GPS navigation, INS / GPS combined navigation and visual navigation technology. [0003] Inertial navigation technology is the earliest researched and most mature navigation technology, and it is also a technology that is widely used in aircraft navigation. Inertial navigation technology uses inertial sensitive elements to measure the aircraft’s linear motion and angular motion parameters in inertial space. Under a given initial motion condition, the computer calculates the aircraft’s attitude, azimuth, speed, position and other parameters to guide the aircraft to complete the reservation The navigation...

AI Technical Summary

Problems solved by technology

However, the inertial navigation technology has the following disadvantages: the positioning error increases rapidly with time, and after a long time of work, it will produce different degrees of cumulative errors. Therefore, the inertial navigation technology cannot be used alone, and must be used in combination with other navigation technologies Caixing

It can be seen that the landing area of ​​the aircraft is very limited, and the requirements for autonomous landing of the aircraft in any area are not met.

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