Multi-source fusion vehicle-mounted unmanned aerial vehicle autonomous landing control method and device

Abstract

The invention discloses a multi-source fusion vehicle-mounted unmanned aerial vehicle autonomous landing control method. In order to solve the problem of autonomous landing of a vehicle-mounted unmanned aerial vehicle in the high-speed moving process of a vehicle-mounted take-off and landing platform, mature RTK positioning and visual positioning are fused, and a complex information fusion algorithm is abandoned; the target position credibility of the RTK positioning module and the visual positioning module is compared, and the target position information of the positioning module with higher target position credibility is selected as a navigation information source for controlling the autonomous landing of the vehicle-mounted unmanned aerial vehicle. The invention further discloses a multi-source fusion vehicle-mounted unmanned aerial vehicle autonomous landing control device. Compared with the prior art, the technical scheme of the invention can greatly improve the autonomous landing accuracy and safety of the vehicle-mounted unmanned aerial vehicle in the moving process of the vehicle-mounted take-off and landing platform, and has the advantages of simple algorithm and low requirements on software and hardware.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle control, in particular to a vehicle-mounted unmanned aerial vehicle autonomous landing control method based on fusion of multiple sources. Background technique [0002] UAV technology is developing rapidly in the direction of automation and intelligence. Among them, the vehicle-mounted UAV system has been widely concerned. The vehicle-mounted UAV system is mainly composed of the vehicle-mounted take-off and landing platform, the UAV flight platform, the ground monitoring system, the positioning system, the communication equipment and the communication link. The vehicle-mounted drone can take off autonomously on the vehicle-mounted take-off and landing platform, and complete tasks such as autonomous following, surveillance, reconnaissance, and inspection as needed; when the drone is low in battery or the user issues a return command, the vehicle-mounted drone can Follow the moving...

AI Technical Summary

Problems solved by technology

[0003] The mobile landing of the vehicle-mounted UAV when it needs to return to the vehicle-mounted take-off and landing platform is the technical difficulty of the system. First, the UAV needs to accurately locate the position of the vehicle-mounted take-off and landing platform. The hard contact of the take-off and landing platform, inaccurate positioning or landing failure can easily lead to the crash of the drone, causing property damage and even personal safety hazards

At present, some vehicle-mounted landing systems use pure visual navigation schemes to locate vehicle-mounted take-off and landing platforms, but pure visual navigation has the disadvantages of easy loss of targets, great environmental influences such as light, and low success rate of landing; some positioning systems use GPS positioning, and other Not affected by the environment, but the positioning accuracy is poor, and it is difficult to meet the landing accuracy requirements i; therefore, RTK with higher accuracy is also selected for target positioning, but the RTK positioning system is highly dependent on the communication link, and the moving speed of the vehicle-mounted landing platform is faster When the time delay occurs, the communication delay will cause the location of the landing point obtained by the UAV to be different from the actual location of the vehicle-mounted take-off and landing platform, resulting in poor landing accuracy of the UAV; RTK positioning equipment and communication equipment are also susceptible to interference from the external environment and fail

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