Beacon arranging and image processing method based on UAN (unmanned aerial vehicle) pose calculation

Abstract

A beacon arranging and image processing method based on UAN (unmanned aerial vehicle) pose calculation comprises the steps as follows: firstly, machine vision guiding landing of an UAN is designed, under the conditions of guarantee of the image sensitivity and analysis of the field distortion, a beacon structure and arranging method required by vision guiding landing is designed according to a built vision imaging system in combination with poses possibly occurring in the landing process, then, three indexes for measuring algorithm applicability are proposed to evaluate and screen pose solution algorithms for different cooperation beacon configurations according to a designed visual guiding system, and finally, adopted ground cooperation beacons are infrared LEDs which have more stable imaging effect, longer imaging distance and higher imaging precision. The method is simple and feasible and has the low landing field configuration requirement, features can be extracted from near infrared images more conveniently and quickly, the application range of the visual system is enlarged, and all-day and all-weather detection and recognition can be realized; the UAN pose information can be solved precisely.

Description

Technical field [0001] The invention relates to the confirmation of the position of the beacon when the drone is landing, in particular to a beacon arrangement and image processing method based on the calculation of the pose of the drone. Background technique [0002] Unmanned Aerial Vehicles (UAV) have received widespread attention since their inception. With the advancement of science and technology, UAVs have been applied to terrain detection, disaster detection, aerial reconnaissance and other aspects. The landing stage of drones is the stage with the highest accident rate in the execution of drones. Therefore, the study of safe and reliable automated landing guidance methods can ensure the safety of drones, reduce the accident rate, effectively complete combat tasks, and reduce the cost of drone use. Waiting has important meaning. The search for a simple, fast, autonomous, and reliable way to guide the landing of drones is an important issue that needs to be resolved. [000...

AI Technical Summary

Problems solved by technology

At present, most visual landing navigation systems are based on image processing technology in the visible light range, and there are many factors that affect visible light imaging in nature. In addition, landing at night is also a difficulty for visible light visual landing navigation systems

[0004] At present, in the research of visual landing guidance technology at home and abroad, the design conditions for cooperative beacons are not strict enough, and most of them are limited to ensuring visibility. The research on non-visible infrared beacons also mostly stays on heating metals.

In addition, in the process of visual landing guidance under long-distance and large-scale transformation, the influence of beacon design on pose calculation is not considered

At the same time, there are many methods for the detection, extraction and matching of cooperative beacon feature points at home and abroad, but there is still no suitable method for the detection, extraction and matching of cooperative beacons with a specific structure.

For the pose calculation algorithm, the research on it at home and abroad is also very rich, but there is no good analysis on how to choose the pose calculation algorithm in practical engineering problems

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