Vision auxiliary device and method for automatic landing of unmanned aerial vehicle

Abstract

The invention discloses a vision auxiliary device and method for automatic landing of an unmanned aerial vehicle, and relates to the field of unmanned aerial vehicles. The problems that according to an existing vision auxiliary device which acquires and recognizes runways and the horizon through an airborne photographing device so as to sense the landing posture of the unmanned aerial vehicle, due to the lack of a multi-scale analysis mechanism, the landing requirement cannot be easily met, the posture and position calibration effect is poor, and deep prediction of the movement behavior of the unmanned aerial vehicle lacks are solved. The vision auxiliary device comprises a two-shaft rotary table, a rotary table motor, a power module, a single-view fixed-focus camera, a vision auxiliary information processing module and an information storage module. The vision auxiliary information processing module comprises a landing track re-planning module, a data comparator, an information filter, a computer vision processor based on image control, a computer vision processor based on position control, a first feedback correction device, a second feedback correction device, an information fusion parameter extractor and an RS485 communication interface. The vision auxiliary device is simple in structure, low in power consumption, high in efficiency and good in compatibility.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a visual aid device and a visual aid method for autonomous landing of unmanned aerial vehicles. Background technique [0002] Acquisition and cooperative control of UAV position and attitude information are the core of UAV autonomous landing technology. In the landing area, adjust the pitch attitude and heading offset; after sensing the approach (the process of aligning the aircraft with the runway when it descends), obtain the position and attitude information of the UAV in real time, and align the heading with the UAV flight control system, according to the plan When planning the leveling point, ensure that the flight parameters of the drone meet the landing conditions, and turn off the engine to land according to the leveling track line; finally, during the taxiing and braking phase, ensure that the drone can slide along the airport runway line to avoid Exit ...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the lack of multi-scale analysis mechanism in the existing visual aid devices that use airborne camera equipment to obtain and identify the runway and horizon to perceive the landing attitude of the UAV, it is difficult to meet the landing requirements, the attitude and position calibration effect is poor, and the lack of unmanned aerial vehicles To solve the problem of depth prediction of drone motion behavior, the present invention provides a visual aid device and visual aid method for autonomous landing of drones

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