UAV Relative Pose Estimation Method for Fixed-point Landing Mark

Abstract

The present invention discloses a method for estimating a UAV relative pose for a fixed-point landing mark. The method comprises: step 1: designing the shape of a fixed-point landing mark on a mobileplatform, wherein the fixed-point landing mark adopts an RGB color model, and comprises an outer rectangular frame, an inner rectangular frame, and an isolated rectangular frame positioned between theouter rectangular frame and the inner rectangular frame and used for connecting the outer rectangular frame and the inner rectangular frame; step 2: detecting mark feature points based on vision; andstep 3: estimating the pose of a UAV relative to the fixed-point landing mark according to the detected mark feature points. The fixed-point landing mark of the mobile platform provided by the present invention is distinctly different from the existing landing marks in China and abroad in terms of shapes and recognition principles. The landing mark shape of the mobile platform, which combines aninner layer and an outer layer based on chromatics, enables the UAV to have mark features in an entire landing process, thereby providing a basis for autonomous landing on a fixed platform and the mobile platform.

Description

technical field [0001] The present invention relates to a UAV (English full name is "Unmanned Aerial Vehicle"; Chinese full name is "unmanned aircraft"; Chinese abbreviation is "UAV") autonomous navigation and landing technology field. UAV Relative Pose Estimation Method. Background technique [0002] Vision-based fixed-point landing marks are mainly used for autonomous navigation and landing of UAVs equipped with cameras. The UAV obtains the required feature information by detecting the pattern in the sign of the landing platform, and then uses the conversion relationship between the image coordinate system and the coordinates of the platform sign to solve the position and attitude of the UAV relative to the sign platform (hereinafter referred to as is "position") information, so as to realize UAV autonomous navigation and landing at a designated position. Compared with the characteristics of natural scenery and building facilities, fixed-point landing signs can provide i...

AI Technical Summary

Problems solved by technology

[0009] The method based on surface information generally assumes that the attitude of the UAV is close to the level, so the scope of application is limited

Moreover, since the sign cannot be fully displayed in the visual range when the drone lands at a lower position, the current method based on surface information cannot meet the practical needs on the mobile platform.

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