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Ground experiment system for verifying of vision guidance landing algorithm of flight vehicle

A technology of visual guidance and algorithm verification, applied in the direction of instruments, measuring devices, etc., can solve the problem of unreproducible attitude movement changes of unmanned aerial vehicles, lack of lateral movement ability, and unfavorable ground simulation verification of unmanned aerial vehicle vision-guided landing technology and other issues to achieve the effect of reducing the risk of the experiment

Inactive Publication Date: 2012-06-20
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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AI Technical Summary

Problems solved by technology

This kind of car can turn by changing the direction of the front wheels, but it does not have the ability to move laterally, which is a major flaw for the vision-guided landing equipment and algorithm verification platform for unmanned aerial vehicles
At the same time, unmanned aerial vehicles also have the characteristics of attitude movement changes in the air. Traditional cars cannot reproduce the attitude movement changes of unmanned aerial vehicles, which is not conducive to ground simulation to verify the theoretical research results of vision-guided landing technology for unmanned aerial vehicles.

Method used

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  • Ground experiment system for verifying of vision guidance landing algorithm of flight vehicle
  • Ground experiment system for verifying of vision guidance landing algorithm of flight vehicle
  • Ground experiment system for verifying of vision guidance landing algorithm of flight vehicle

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Embodiment Construction

[0019] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0020] The present invention aims at the verification requirements of aircraft vision-guided landing algorithm, and designs an aircraft vision-guided landing algorithm verification experiment system that can be completed on the ground, such as figure 1 As shown, the main shaft 2, the camera 1 located on the main shaft, the motion drive platform 12, the electronic equipment 11 and the battery 10, the steering gear assembly for driving the posture or control surface movement, and the steering gear assembly driven by the posture motion (also called the steering gear assembly) ) supported tilting platform 4 and other components.

[0021] The designed experimental system is used to verify the vision-guided landing algorithm of the aircraft. The motion of the experimental system has its special function. Therefore, the experimental system is designed as an upper an...

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Abstract

The invention discloses a ground experiment system for verifying of vision guidance landing algorithm of a flight vehicle. The ground experiment system includes a motion drive platform and a main shaft arranged on the motion drive platform, wherein a battery and electronic equipment are arranged on the motion drive platform; a trace and course motion drive assembly is arranged at the lower end of the motion drive platform; a camera is arranged on the main shaft; a tilt-rotating platform is sleeved on the main shaft; the tilt-rotating and the main shaft are connected through a global hinge; and an attitude motion drive assembly is arranged at the lower end of the tilt-rotating platform. The ground experiment system utilizes the ground experiment equipment to simulate the flying attitude and trace variation of the flight vehicle in the air, so as to verify the vision guidance landing algorithm of the flight vehicle.

Description

technical field [0001] The invention relates to an aircraft ground experiment system, in particular to a set of ground experiment system for unmanned helicopter vision-guided landing algorithm verification. Background technique [0002] There are many ways to realize the flight control of aircraft, and the autonomous flight guidance and landing of unmanned aerial vehicles based on vision guidance is one of the novel control methods. In the process of aircraft guidance and landing, vision has incomparable advantages: the visual sensor and inertial components are combined into a visual / inertial integrated navigation system, and Kalman filtering is used to fuse the visual measurement results with the IMU measurement results, which can provide Aircraft guidance and landing control provides high-precision position and attitude estimation; camera motion estimation based on monocular vision can provide high-precision position and attitude estimation for aircraft guidance and landin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
Inventor 徐锦法张梁郭林茂
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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