Multi-stage visual precise landing method and device for unmanned aerial vehicle

Abstract

The invention discloses a multi-stage visual precise landing method for an unmanned aerial vehicle, which comprises the following steps of: S1, acquiring internal parameters of an airborne overlook camera and actual landing height requirements of the unmanned aerial vehicle, and constructing a ground visual landing mark of a multi-scale multi-cooperation label; s2, carrying out detection calculation, landing target identification and angular point detection on the ground visual landing mark; s3, calculating a three-dimensional relative position of a landing target position in an airborne overlook camera coordinate system by using a camera attitude estimation algorithm; and S4, according to the three-dimensional relative position and the real-time three-dimensional position information of the unmanned aerial vehicle, the position of a landing target under a vehicle body coordinate system is solved, and landing is completed by adopting a mode of reducing the landing speed stage by stage. According to the method, the unmanned aerial vehicle can be identified and positioned without blind areas in the whole process at different landing heights by detecting different multi-scale multi-cooperation labels on the ground, so that safe, accurate and smooth landing is completed.

Description

technical field [0001] The invention relates to the technical field of autonomous and precise landing of unmanned aerial vehicles, in particular to a method and device for multi-stage visual and precise landing of unmanned aerial vehicles. Background technique [0002] With the development of sensing technology and drone technology, drones have been widely used to perform various military and civilian tasks such as power inspections, logistics transportation, police security, and environmental monitoring. As a stage where drone accidents occur frequently, the landing process has been criticized by the society. Therefore, the autonomous and precise landing technology of drones has always been the focus of the industry. [0003] In recent years, with the decrease in the cost of related hardware products such as airborne processors and visual sensors, and the rise and application of computer vision technology, vision-based autonomous landing technology for UAVs has received ex...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a multi-stage visual precision landing method and device for unmanned aerial vehicles, which solves the problem of the target being too large or too small in the camera imaging of a single tag in the initial stage and the completion stage of the landing in the prior art, resulting in no The human-machine detection and positioning of the landing target point is invalid, and there is a phenomenon of blind landing in a certain altitude range, which brings great hidden dangers to safe landing

The existence of the problem of blind landing has further led to the problem that the existing active visual landing technology cannot achieve accurate and safe landing at a large landing height (> 30 meters)

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