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System and method for verifying visual autonomous landing simulation of unmanned aerial vehicle

A technology for simulation verification and autonomous landing, applied to measuring devices, instruments, etc., can solve problems such as landing failures

Inactive Publication Date: 2013-12-04
XIDIAN UNIV
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Problems solved by technology

These problems may lead to the failure of the landing

Method used

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  • System and method for verifying visual autonomous landing simulation of unmanned aerial vehicle
  • System and method for verifying visual autonomous landing simulation of unmanned aerial vehicle
  • System and method for verifying visual autonomous landing simulation of unmanned aerial vehicle

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Embodiment Construction

[0044] The entire landing process of the UAV is divided into several stages. The present invention assumes that the UAV relies on GPS or other navigation equipment to guide it to fly over the landing mark, and the landing mark is always within the range of the camera image. The function of the airborne camera is simulated by the VegaPrime observer, and the characteristics of the UAV pose can be set by VegaPrime, and the internal parameter matrix of the simulated camera is successfully obtained through the inverse solution of the UAV pose estimation algorithm. An H-shaped landing landmark with known dimensions was designed using the Creator 3D modeling tool. On this basis, using the combination of VegaPrime and vision algorithm, a UAV visual autonomous landing simulation verification system application is designed and implemented.

[0045] Such as figure 1 As shown, a UAV visual autonomous landing simulation verification system is characterized in that it includes at least a V...

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Abstract

The invention relates to a system and a method for verifying visual autonomous landing simulation of an unmanned aerial vehicle. Virtual reality technology and visualization technology are utilized, a real unmanned aerial vehicle flying environment is simulated, immersion-type sense of reality is provided, the problem of visual simulation and camera simulation of autonomous landing of the unmanned aerial vehicle is solved, a visual landing algorithm and VegaPrime are combined, and data needed for visual landing navigation are calculated and displayed in real time through multichannel demonstrating of the whole landing period. Simulation results show that by the system, landing landmarks can be effectively detected, estimated values of poses can be visually displayed in real time, a function of simulation verifying is realized, and a good simulation platform is provided for actual engineering application.

Description

technical field [0001] The present invention relates to a UAV visual autonomous landing simulation verification system and method, which can simulate and verify the UAV autonomous landing vision algorithm under real terrain, and use virtual reality and visualization technology to construct an airborne camera and landing landmarks, Display the entire landing phase and the images captured by the camera through multiple channels, and calculate and output the data required for visual landing navigation in real time. Background technique [0002] Safe landing is a very important stage in the flight and navigation process of UAV. In the existing landing navigation method, inertial navigation needs to obtain the approximate position and speed information of the aircraft through integral calculation, so that the error will continue to increase over time; GPS satellite navigation is susceptible to electronic interference; ground control navigation is controlled on human factors. Th...

Claims

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Application Information

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IPC IPC(8): G01C25/00
Inventor 刘贵喜张菁超王康董亮王明瑚成祥卢海鹏
Owner XIDIAN UNIV
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