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Vehicle-mounted multi-rotor unmanned helicopter landing guidance control system and guidance control method

A multi-rotor unmanned, control system technology, applied in the field of autonomous flight control of remote control model multi-rotor helicopters

Inactive Publication Date: 2015-05-27
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] Purpose of the invention: In view of the above-mentioned prior art, a vehicle-mounted multi-rotor unmanned helicopter landing guidance control system and guidance control method are proposed to solve the engineering problem of the multi-rotor unmanned helicopter autonomously landing on a moving target vehicle

Method used

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  • Vehicle-mounted multi-rotor unmanned helicopter landing guidance control system and guidance control method

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Embodiment Construction

[0037] The present invention will be further explained below in conjunction with the accompanying drawings.

[0038] Such as figure 1 As shown, a vehicle-mounted multi-rotor unmanned helicopter landing guidance control system includes a vehicle-mounted guidance subsystem and an airborne control subsystem. The vehicle guidance subsystem includes two sets of visual processing systems, navigation computer, first wireless data transmission module, switching power supply and remote control.

[0039] Among them, each vision processing system includes a camera, a two-axis gimbal, two stepping motor drivers and a data processing chip. Camera: In this embodiment, a USB camera is selected, the hardware pixel is 100W720p, the viewing angle is 170°, the frame rate is 30fps / 1280×720, and the storage format after dynamic capture is AVI / WMV. The resolution of the camera can balance image clarity and image processing speed.

[0040]Two-axis gimbal: The two-axis gimbal is controlled by two ...

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Abstract

The invention discloses a vehicle-mounted multi-rotor unmanned helicopter landing guidance control system and a guidance control method. The control system comprises a vehicle-mounted guidance subsystem and an airborne control subsystem, wherein the vehicle-mounted guidance subsystem mainly comprises two visual processing systems and a navigational computer. On the basis of the guidance control system and with the adoption of a binocular vision guidance method, a multi-rotor unmanned helicopter is accurately positioned according to data resolving of the two visual processing systems, a flying control computer controls the multi-rotor unmanned helicopter to land in the target position of a vehicle, the practicability of the multi-rotor unmanned helicopter is improved, and the application range of the multi-rotor unmanned helicopter is increased.

Description

technical field [0001] The invention discloses a vehicle-mounted multi-rotor unmanned helicopter landing guidance control system and a guidance control method, belonging to the technical field of autonomous flight control of remote-controlled model (unmanned) multi-rotor helicopters. Background technique [0002] The multi-rotor unmanned helicopter is an unmanned aerial vehicle with simple structure, easy control, vertical take-off and landing, and stable hovering state. Multi-rotor unmanned helicopters can be roughly divided into three-axis, four-axis, six-axis and eight-axis according to the number of arms. In addition to the three-axis structure, each arm of other structures can adopt a single-layer rotor layout or a double-layer rotor layout. . Different numbers of arms and rotors of multi-rotor aircraft can achieve different load capacities. Multi-rotor unmanned helicopters have extremely high controllability, maneuverability and stability, and have the characteristic...

Claims

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Application Information

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IPC IPC(8): G05D1/10
Inventor 孙一力甄子洋王硕王新华李康伟李晨辉
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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