An autonomous take-off and landing system for rotary-wing unmanned aerial vehicles based on a three-layer character-shaped multi-color landing pad

Abstract

Disclosed is a rotor unmanned aircraft independent take-off and landing system based on three-layer triangle multi-color landing ground. The system comprises a small rotor unmanned aircraft (SRUA), an onboard sensor, a data processing unit, a flight control system, an onboard camera, landing ground, a wireless image transmission module, a wireless data transmission module and a ground monitor station, wherein the onboard sensor comprises an inertial measurement unit, a global positioning system (GPS) receiver, a barometer, an ultrasound device and the like, the data processing unit is used for integrating sensor data, the flight control system finishes route planning to achieve high accuracy control over the SRUA, the onboard camera is used for collecting images of the landing ground, the landing ground is a specially designed landing point for an unmanned aircraft, the wireless image transmission module can transmit the images to a ground station, the wireless data transmission module can achieve communication of data and instructions between the unmanned aircraft and the ground station, and the ground station is composed of a visual processing unit and a display terminal. According to the rotor unmanned aircraft independent take-off and landing system based on the three-layer triangle multi-color landing ground, the reliability of SRUA navigation messages is guaranteed, the control accuracy of the SRUA is increased, costs are low, the application is convenient, and important engineering values can be achieved.

Description

technical field [0001] The invention relates to a vision-assisted navigation autonomous take-off and landing system of a rotor UAV, which can be used for autonomous navigation and control of the rotor UAV, and is especially suitable for military and civilian fields where the landing location of the rotor UAV is fixed and the navigation accuracy is high. . Background technique [0002] Rotor UAV has the advantages of small size, low cost, and flexible maneuverability. It can realize functions such as vertical take-off and landing, hovering, and ultra-low-altitude flight. It has a wide range of application prospects in military, civilian, and scientific research. [0003] The research on the take-off and flight technology of rotor UAV has been very in-depth, and good results have been obtained. However, the high-precision navigation control method in the landing stage is still a research hotspot, and it is still in its infancy in China. Accurate altitude information is the b...

AI Technical Summary

Problems solved by technology

Light, environment, and camera quality will all cause varying degrees of changes in the gray value of the pixels corresponding to the black and white markers in the image, making the gray value of the black part decrease and the gray value of the white part increase. Therefore, how to perform appropriate threshold segmentation processing on the landing pad image to extract the feature information of the landing pad becomes very important and the algorithm implementation is more complicated

In addition, limited by the size of the visual sign, if the rotor UAV is too far away from the landing pad, the information of the landing pad will be blurred and the measurement error will be increased. If it is too close, part of the landing pad pattern information will go out of the camera's field of view and cause information loss. Therefore, the navigation range of the vision system has certain limitations

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