Attitude parameter evaluation method for unmanned vehicle independent landing based on visual information

An unmanned aerial vehicle and autonomous landing technology, applied in the field of unmanned aerial vehicles, can solve the problems of poor reliability of the navigation system and achieve the effect of improving the estimation accuracy

Inactive Publication Date: 2009-08-12
ZHEJIANG UNIV
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Problems solved by technology

[0005] In order to overcome the shortcomings of the poor reliability of the navigation system of the existing unmanned aerial vehicle, the present invention provides a me

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  • Attitude parameter evaluation method for unmanned vehicle independent landing based on visual information
  • Attitude parameter evaluation method for unmanned vehicle independent landing based on visual information
  • Attitude parameter evaluation method for unmanned vehicle independent landing based on visual information

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[0041] The present invention will be further described below in conjunction with the drawings.

[0042] Reference figure 1 — Figure 5 , The specific implementation of the method for estimating the attitude parameters of autonomous landing of unmanned aerial vehicles based on visual information includes the following parts:

[0043] 1. Elevation angle estimation

[0044] Set the binocular camera to be parallel to the body of the unmanned aerial vehicle. The camera coordinate system coincides with the unmanned aerial vehicle's coordinate system. Assume that the unmanned aerial vehicle slides down in a straight line, and the unmanned aerial vehicle is located at a height H′ from the ground, and its flight direction The ground forms an angle α, reference figure 1 with figure 2 . The pitch angle α is obtained by formula (1):

[0045] α = tan - 1 H f ...

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Abstract

The invention relates to a method for estimating attitude parameters of automatic landing of an unmanned air vehicle based on visual information, which comprises the following steps: 1) processing and calculating the motion vector and estimating the expansion center on the basis of time for monocular visual information and estimating the pitch angle according to a geometrical vanishing point model on the assumption that the unmanned air vehicle slides down along a straight line; 2) forming a sparse disparity map based on matching of characteristic points by utilization of binocular stereoscopic visual information, further estimating the depth information of a characteristic point from a UAV to the ground, and acquiring the height of the UAV relative to the ground by combination of the parameters of the pitch angle and conversion from the coordinate of a camera to the world coordinate; and 3) establishing a UAV motion model, and further improving the estimation precision of the height parameter of the UAV on the basis of Kalman filtering. The invention provides the method for estimating the attitude parameters of automatic landing of the unmanned air vehicle based on the visual information and effectively improving the reliability.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle (Unmanned Aerial Vehicle, UAV) navigation technology, which focuses on estimation of UAV attitude parameters based on visual information. Background technique [0002] Unmanned aerial vehicles are used in aerial photography, disaster monitoring and geophysical prospecting, etc., and have broad application prospects. UAV autonomous landing refers to the process in which the UAV relies on the onboard navigation equipment and flight control system for positioning and navigation, and finally controls the UAV to land on the landing site. In order to achieve autonomous landing, UAV must have autonomous navigation capability, that is, it needs to estimate its attitude parameters in real time for autonomous landing navigation. [0003] At present, the navigation technologies for UAV autonomous landing researched at home and abroad include: ine...

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Application Information

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IPC IPC(8): G01C21/20G01C21/00
Inventor 潘翔童丸丸马德强吴贻军姜哲圣
Owner ZHEJIANG UNIV
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