A cooperative target design and positioning method for autonomous drone landing
A technology of cooperative target and positioning method, applied in the field of visual navigation, can solve the problems of complex and difficult landing of unmanned aerial vehicles/carrier-based aircraft, and achieve the effect of improving safety and reliability, facilitating positioning and high robustness
Active Publication Date: 2016-08-24
北京北航天宇长鹰无人机科技有限公司
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Problems solved by technology
Compared with land-based aircraft, the landing of UAV / carrier-based aircraft is more complicated and difficult
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[0021] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
[0022] The method for designing and positioning cooperative targets for autonomous drone landing of the present invention is as follows figure 1 As shown, including the following steps:
[0023] The first step is to design the cooperation target. The design content of the cooperation target includes: the shape design of the cooperation target, the size design of the cooperation target, the location of the cooperation target, the color of the cooperation target, the radiation band and power design. The specific design steps are as follows:
[0024] (1) Design the shape of the cooperation target
[0025] According to the principle of simple structure, easy identification, direction guidance, and easy accurate positioning under affine transformation conditions, the present invention designs the cooperation target as "T", such as Figure 2a Shown. The ...
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The invention belongs to the filed of visual navigation, and discloses a cooperative target designing and locating method for unmanned aerial vehicle autonomous landing. The method is based on the principle of being simple in structure and convenient to identify, having direction guidance, and facilitating accurate locating under the affine transformation condition, the shape, size, color, position arrangement and radiation band and power of the cooperative target are designed, and then an identification scheme of the cooperative target is designed. The identification scheme comprises 5000-meter far distance naval vessel position detection, 1000-meter middle distance runway plane locating and 500-meter near distance vessel landing position locating. By means of the cooperative target designing and locating method, safety and success rate of unmanned aerial vehicle autonomous landing can be improved, and the designed cooperative target is convenient to identify and locate and high in robustness. By means of computer view, the cooperative target can be fast identified, and unmanned aerial vehicle autonomous landing is achieved.
Description
Technical field [0001] The invention belongs to the technical field of visual navigation, and specifically relates to a method for designing and positioning a cooperative target for autonomous landing of a drone. Background technique [0002] In the field of navigation technology, the existing UAV autonomous landing / landing navigation methods include: global positioning system (GPS), inertial navigation system (INS), visual navigation system, and integrated navigation system composed of various methods. At present, in the navigation and landing guidance of unmanned aerial vehicles, the most widely used is the use of GPS / SINS integrated navigation system combined with altimeter to complete. SINS stands for strapdown inertial navigation system. Among them, GPS is restricted by foreign countries. When it is turned off or interfered, the safety and reliability of the landing / landing system are greatly affected; inertial navigation has the problem of infinitely increasing errors over ...
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IPC IPC(8): G06K9/00G06K9/62
Inventor 李红光丁文锐袁永显
Owner 北京北航天宇长鹰无人机科技有限公司