A method for autonomous landing of quadrotor UAV based on vision positioning

Abstract

The invention discloses an autonomous landing method for a quadrotor UAV based on visual positioning. In order to make the quadrotor UAV autonomously and accurately land on a ground landing platform for fixed protection, battery life and mobile carrying, the design A visual identification mark composed of regular triangles and concentric rings, and based on the identification mark, a new vision-based autonomous landing method for quadrotor drones is proposed. In the first stage of the method, the position parameters of the UAV and the center of the identification mark are calculated by solving the equilateral triangle of the identification mark; in the second stage, the position deviation between the UAV and the center of the identification mark is determined by using the concentric ring and its internal heading reference line and yaw angle, and finally complete the attitude adjustment and autonomous landing of the UAV. It was verified by the landing experiment of the UAV that the method can accurately extract the sign features, calculate the position information and angle information of the UAV relative to the identification sign in real time, and achieve precise 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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