Autonomous unmanned aerial vehicle landing method and system based on GPS and image recognition hybrid navigation

Abstract

The invention discloses an autonomous unmanned aerial vehicle landing method based on GPS and image recognition hybrid navigation and an autonomous unmanned aerial vehicle landing system based on theGPS and image recognition hybrid navigation. The autonomous unmanned aerial vehicle landing method comprises the following steps: 1), controlling an unmanned boat to stop motion according to a received landing instruction, and transmitting GPS navigation coordinates of a landing pad on the unmanned boat to an unmanned aerial vehicle in real time; 2), controlling the unmanned aerial vehicle to flyover an auxiliary landing platform, and waiting for the landing; 3), processing a shot image of a landing marker according to the unmanned aerial vehicle, and identifying the center coordinates of a landing marker picture; 4), according to the center coordinates of the shot picture, altitude data of the unmanned aerial vehicle and the coordinate position thereof, obtaining the position, the attitude angle and the coordinate difference of an image shooting center relative to the landing marker; and 5), according to the position and the attitude angle of the image shooting center of the unmannedaerial vehicle relative to the landing marker as well as the attitude angle of an airborne head camera relative to the unmanned aerial vehicle, controlling landing of the unmanned aerial vehicle. Theinvention provides the autonomous rotor-wing unmanned aerial vehicle landing method by which the precision is high, the reliability is high and the cost is low; the autonomous rotor-wing unmanned aerial vehicle landing method is especially applicable to landing of the unmanned aerial vehicle on the unmanned boat.

Description

technical field [0001] The invention relates to unmanned aerial vehicle technology, in particular to an unmanned aerial vehicle autonomous landing system based on GPS and image recognition hybrid navigation. Background technique [0002] With the extensive attention and development of small rotor UAVs and unmanned ships in the past two decades, they have appeared in everything from UAV aerial photography, surveying and mapping, plant protection to unmanned water quality monitoring and assisted rescue. Unmanned platforms can increase efficiency, reduce costs, and reduce unnecessary collateral damage. However, the field environment perception ability of a single UAV and unmanned ship is not enough to meet the needs of autonomous operations in the field, which limits its development and application in the field environment. Among them, the load and endurance of small UAVs are poor, and it is difficult to continue to perform tasks in the air. UAVs need to continuously replenish...

AI Technical Summary

Problems solved by technology

However, the field environment perception ability of a single UAV and unmanned ship is not enough to meet the needs of autonomous operations in the field, which limits its development and application in the field environment

Among them, the load and endurance of small UAVs are poor, and it is difficult to continue to perform tasks in the air. UAVs need to continuously replenish energy and replace batteries, so a lot of time and energy are wasted between going to and from the operating point and energy supply. on the flight

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