Target prediction method based on navigation information for autonomous recovery of UAV (unmanned aerial vehicle)

Abstract

The invention provides a target prediction method based on navigation information for autonomous recovery of a UAV (unmanned aerial vehicle) under the condition that a cooperative target is static. The static cooperative target means that displacement component of the cooperative target in a world coordinate system does not change, that is, (X<w>Oc, Y<w>Oc, Z<w>Oc) shown in the description does not change. The UAV can provide the navigation information such as pose and the like in real time in an autonomous recovery process of the UAV; a motion curve of the cooperative target is fitted with arelated numerical method according to pose information of the UAV in the previous period, the space motion position of the cooperative target at the current moment is estimated according to the curve,and an imaging point of the cooperative target is predicted through combination with the navigation information. The imaging area of the cooperative target can be predicted through combination with the navigation information, detection and tracking of the target and relative pose resolving are performed only in the area, and therefore, real-time performance and accuracy of a pose estimation algorithm of the cooperative target are improved.

Description

technical field [0001] The invention relates to the technical field of autonomous recovery of unmanned aerial vehicles, in particular to a method for predicting targets of autonomous recovery of unmanned aerial vehicles based on navigation information. Background technique [0002] At present, the autonomous recovery of drones (ground recovery or vehicle recovery, etc.) is a research hotspot and difficulty in the civilian field. To achieve safe autonomous recovery, accurate and real-time relative pose estimation is the basis, especially for small drones. It is even more challenging for man-machines (especially UAVs moving at high speed). [0003] At present, the commonly used autonomous recovery method is based on the cooperative target method, which estimates the relative pose of the UAV by detecting and tracking the cooperative target on the ground or on the vehicle. However, the load of small UAVs is limited and the onboard processing capacity is limited. , the conventio...

AI Technical Summary

Problems solved by technology

[0003] At present, the commonly used autonomous recovery method is based on the cooperative target method, which estimates the relative pose of the UAV by detecting and tracking the cooperative target on the ground or on the vehicle. However, the load of small UAVs is limited and the onboard processing capacity is limited. , the conventional cooperative target-based method may not meet the real-time requirements, or the position estimation effect of the cooperative target is poor due to the rapid change of the position of the cooperative target in the image.

[0004] Therefore, there is an urgent need to study a method to solve the problem of real-time and accuracy of cooperative target prediction in the autonomous recovery of UAVs to a certain extent.

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