Accurate visual positioning and orienting method for rotor wing unmanned aerial vehicle

Abstract

The invention discloses an accurate visual positioning and orienting method for a rotor wing unmanned aerial vehicle on the basis of an artificial marker. The accurate visual positioning and orienting method includes the following steps that the marker with a special pattern is installed on the surface of an artificial facility or the surface of a natural object; a camera is calibrated; the proportion mapping relation among the actual size of the marker, the relative distance between the marker and the camera and the size, in camera imaging, of the marker is set up, and the keeping distance between the unmanned aerial vehicle and the marker is set; the unmanned aerial vehicle is guided to fly to the position where the unmanned aerial vehicle is to be suspended, the unmanned aerial vehicle is adjusted so that the marker pattern can enter the visual field of the camera, and a visual recognition function is started; a visual processing computer compares the geometrical characteristic of the pattern shot currently and a standard pattern through visual analysis to obtain difference and transmits the difference to a flight control computer to generate a control law so that the unmanned aerial vehicle can be adjusted to eliminate the deviation of the position, the height and the course, and accurate positioning and orienting suspension is achieved. The accurate visual positioning and orienting method is high in independence, good in stability, high in reliability and beneficial for safety operation, nearby the artificial facility the natural object, of the unmanned aerial vehicle.

Description

technical field [0001] The invention belongs to the technical field of cross fusion of unmanned aerial vehicle flight control and computer vision, in particular to a precise visual positioning and orientation method for a rotor unmanned aerial vehicle. Background technique [0002] In recent years, the rotor UAV has been developed rapidly. It has the characteristics of stable flight, easy control, low noise, and low safety hazards. The wider the application. The navigation and positioning of traditional rotor UAVs mainly use the combination of IMU (inertial unit) and satellites (such as GPS), which has certain limitations: satellite navigation can only be used outdoors, and is susceptible to interference and drift; IMU is expensive and exists Temperature drift makes it difficult to achieve long-term precise positioning. In addition, the heading perception of the rotor UAV mainly relies on the magnetic compass. Once it is disturbed, it will seriously affect the hovering and...

AI Technical Summary

Problems solved by technology

The navigation and positioning of traditional rotor UAVs mainly use the combination of IMU (inertial unit) and satellites (such as GPS), which has certain limitations: satellite navigation can only be used outdoors, and is susceptible to interference and drift; IMU is expensive and exists Temperature drift, it is difficult to achieve long-term precise positioning

This method is mainly used for camera position acquisition on a two-dimensional coordinate plane, without dimensional calculation of relative distance, and cannot be directly used for position locking of drones

[0009] There are certain shortcomings in the research on the positioning and orientation of UAVs in the above literature: some of them cannot obtain the three-dimensional position and heading information of UAVs at the same time, and some of them have low measurement accuracy or difficult implementation due to environmental interference and other reasons. Large, difficult to apply to precise positioning and orientation of UAV hovering

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