Pilotless plane landing navigation method and its device

Abstract

An unmanned helicopter landing guidance method and a device for implementing the method, which use visual sensors and visual image processing technology to obtain real-time ground information of the landing point and instantaneous global motion information of the aircraft, so as to guide the unmanned helicopter to land autonomously at a fixed point. It first uses the visual sensor to collect image signals, and searches the small area where the landing beacon point is located according to the image information; then finds the feature points in the above small area, and tracks and matches them; finally, if the matching is successful, uses the above tracking and The matching information is used to obtain the global motion parameters of the unmanned helicopter and issue a landing command. The advantages of the method and device of the present invention are: this method has low computational complexity, does not depend on the specific navigation mark pattern of the landing point, and has high accuracy at the same time, which can ensure the success rate and real-time requirements of landing guidance, greatly reducing the The cost is reduced, and the advantages of lightness and flexibility of the unmanned helicopter can be brought into play.

Description

technical field [0001] The invention belongs to the technical field of image recognition and navigation communication, and in particular relates to an unmanned helicopter landing guidance method and a device for implementing the method. Background technique [0002] When an unmanned helicopter performs autonomous landing, it must accurately grasp the positioning information of the landing point, and at the same time must obtain accurate altitude, speed, heading and other self-motion information, and provide the above information to the autonomous landing system. [0003] In the past, as a common method to guide unmanned helicopters to land autonomously at a fixed point, the positioning information of the above-mentioned landing points and the self-motion information of the unmanned helicopters are obtained by means of methods such as inertial measurement units, GPS, and radio altimeters. [0004] However, in the previous methods, there is a shortcoming of poor real-time perf...

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Problems solved by technology

[0008] In addition, in the past, the "H" type or specially designed signs used in helicopter landing sites were usually used as landing beacons for guiding unmanned helicopters to land autonomously at fixed points, which greatly restricted the ability of unmanned helicopters to land easily and flexibly. Play the characteristics of any flat area

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