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Unmanned helicopter independent landing method based on natural landmark and vision navigation

An unmanned helicopter and autonomous landing technology, which is applied to the integrated navigator, target-seeking control, non-electric variable control, etc., can solve the problems of reducing the maneuverability of the unmanned helicopter and consuming manpower, and achieves an increase in take-off weight and a simple structure. , indicating precise effects

Inactive Publication Date: 2011-08-17
TSINGHUA UNIV
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AI Technical Summary

Problems solved by technology

However, laying signal cloth before the unmanned helicopter lands not only consumes manpower and has certain risks, but also reduces the maneuverability of the unmanned helicopter

Method used

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  • Unmanned helicopter independent landing method based on natural landmark and vision navigation
  • Unmanned helicopter independent landing method based on natural landmark and vision navigation

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Embodiment Construction

[0015] The autonomous landing method of an unmanned helicopter based on natural landmarks and visual navigation is mainly composed of an unmanned helicopter (1), a flight control computer (2), a magnetic heading sensor (3), an altimeter (4) and an onboard camera (5).

[0016] During the autonomous landing process of the unmanned helicopter (1), the flight control computer (2) controls and keeps the heading of the helicopter constant by reading the data of the magnetic heading sensor (3) in real time.

[0017] Simultaneously, the airborne camera (5) continuously captures ground images, and transmits the images to the flight control computer (1) in real time. The flight control computer (1) searches the image for a ground natural landmark with obvious features, and detects the moving speed of the natural landmark in the image. Since the natural landmarks on the ground and the helicopter are in relative motion, the horizontal movement speed of the helicopter relative to the groun...

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Abstract

The invention provides an unmanned helicopter independent landing method based on natural landmark and vision navigation, belonging to the technical field of unmanned helicopters. The unmanned helicopter independent landing method based on natural landmark and vision navigation is characterized by comprising an unmanned helicopter, a flying control computer, a magnetic heading sensor, an altimeter and a vehicular camera, wherein the flying control computer controls and locks the heading of the helicopter by reading the data of the magnetic heading sensor in real time during the independent landing process of the unmanned helicopter; by correcting the pitching and rolling control instructions, the motion of the ground natural landmark in the vehicular camera image is locked, so as to eliminate the horizontal displacement of the unmanned helicopter; and by reading the data of the altimeter in real time, the descending speed of the helicopter is controlled till the helicopter is landed safely. By adopting the unmanned helicopter independent landing method, the unmanned helicopter can complete independent landing precisely, safely and reliably by utilizing the vision navigation function of the computer, the magnetic heading sensor and the altimeter simultaneously.

Description

technical field [0001] The invention is a method for autonomous landing of a helicopter, which can guide the autonomous landing of the helicopter conveniently, accurately and safely. It is mainly used in technical fields such as aerospace, drones and robots. Background technique [0002] The landing of an unmanned helicopter is a dangerous process, which is currently mostly controlled manually. Since unmanned helicopters usually land vertically, if the unmanned helicopter has a horizontal speed when landing, it is very easy to slip or even overturn. Therefore, to make the unmanned helicopter safely complete autonomous landing under the control of the flight control computer, it must be ensured that the horizontal speed is zero before landing. The previous solution was mainly to eliminate the horizontal displacement of unmanned helicopters through GPS positioning and visual navigation methods based on ground signal distribution. [0003] GPS signals are easily blocked by b...

Claims

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Application Information

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IPC IPC(8): G05D1/12G01C21/24
CPCG05D1/0676G05D1/0858
Inventor 王冠林朱纪洪
Owner TSINGHUA UNIV
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