Quad-rotor unmanned aerial vehicle autonomous landing method based on visual positioning

Abstract

The invention discloses a quad-rotor unmanned aerial vehicle autonomous landing method based on visual positioning. In order to enable the quad-rotor unmanned aerial vehicle to autonomously and accurately land on a ground landing platform so as to carry out fixed protection, charging endurance and mobile carrying on the quad-rotor unmanned aerial vehicle, a visual identification mark composed of aregular triangle and concentric rings is designed, and a novel vision-based quad-rotor unmanned aerial vehicle autonomous landing method is provided based on the identification mark. In the first stage of the method, position parameters of an unmanned aerial vehicle and the center of an identification mark are calculated through a regular triangle of the identification mark; in the second stage,the position deviation and the yaw angle between the unmanned aerial vehicle and the center of the identification mark are determined through concentric rings and heading reference lines in the concentric rings, and finally attitude adjustment and autonomous landing of the unmanned aerial vehicle are completed. Through verification of a landing experiment of the unmanned aerial vehicle, the methodcan accurately extract sign features, calculate position information and angle information of the unmanned aerial vehicle relative to the identification sign in real time, and realize accurate landing.

Description

technical field [0001] The invention is applied to the fields of electric power inspection, medical rescue, environmental monitoring, disaster monitoring, agricultural perception and the like. In these applications, the key technology is the autonomous landing of the UAV. To realize the autonomous landing of the UAV, the first solution is the sign detection and attitude estimation. A man-machine autonomous landing method belongs to the technical field of machine learning and image processing. Background technique [0002] With the vigorous development of intelligent technology, microelectronics technology, digital communication technology, sensing technology and virtual reality technology, quadrotor UAVs have been vigorously developed in both military and civilian fields. The quadrotor UAV involves many aspects of knowledge such as navigation, computer vision, control theory, embedded electronics, etc. It has the characteristics of small size, low cost, flexible maneuverabi...

AI Technical Summary

Problems solved by technology

[0009] (2) The pose calculation accuracy of vision-based UAV positioning needs to be improved

[0010] Due to the objective shortage of camera equipment, the low accuracy of image feature extraction, and the complexity of the external environment, the image feature information required in the pose calculation cannot be well utilized, resulting in poor pose calculation results. certain limitations

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