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Unmanned plane autonomous landing guidance method combining monocular vision and laser ranging

A technology of laser ranging and autonomous landing, which is applied in the directions of measuring devices, navigation computing tools, electromagnetic wave re-radiation, etc., can solve the problems of poor precision and achieve the effects of high precision, wide range and stable performance

Inactive Publication Date: 2016-03-09
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0004] In order to overcome the shortcomings of poor accuracy of the existing UAV autonomous landing guidance method, the present invention provides a UAV autonomous landing guidance method that combines monocular vision and laser ranging

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  • Unmanned plane autonomous landing guidance method combining monocular vision and laser ranging

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Embodiment Construction

[0041] refer to Figure 1-2 . The specific steps of the UAV autonomous landing guidance method combined with monocular vision and laser ranging in the present invention are as follows:

[0042] 1. Installation and placement of equipment.

[0043] First of all, according to the target space field of view to be positioned, select the placement position of the tripod ① in the experimental environment, choose a flat place as the placement location of the tripod, and fix the horizontal stage ② that can be adjusted independently in three dimensions on the tripod; Then assemble the camera lens ③ and install it on the horizontal turntable; finally, place the laser distance measuring device ⑤ installed on the rotating motor ④ on the side near the tripod and at the same height as the camera, generally within 1 meter of the camera. Then test the laser rangefinder to make sure it is working properly.

[0044] 2. Attitude adjustment of camera and laser distance measuring device.

[004...

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Abstract

The present invention discloses an unmanned plane autonomous landing guidance method combining monocular vision and laser ranging, and aims at solving the technical problem of poor accuracy of the unmanned plane autonomous landing guidance method existing. The unmanned plane autonomous landing guidance method is as follows: information of distance from an unmanned plane to a landing site can be obtained in real time by use of a laser rangefinder, and object identification is performed by the use of monocular vision; first, by use of a horizontal platform deck adjusting camera with independently-adjustable three-dimensional degree, front and back pitching angle and right and left tilting angel can be adjusted to horizontal zero degree state, geometry translation relationship between actual position information and pixel coordinates can be determined according to a target image, and finally three-dimensional coordinates of the unmanned plane in a given coordinate system can be calculated so as to achieve unmanned plane autonomous landing guidance. The unmanned plane autonomous landing guidance method combines the monocular vision and the laser rangefinder, so that accuracy is high, range is wide and performance is stable. After testing, the precision of the unmanned plane autonomous landing guidance method can be reduced from 5 meters within 200 meters of the background technology to 0.5 meter within 200 meters.

Description

technical field [0001] The invention relates to an autonomous landing guidance method for an unmanned aerial vehicle, in particular to an autonomous landing guidance method for an unmanned aerial vehicle combining monocular vision and laser ranging. Background technique [0002] Moving target positioning is a method to obtain the three-dimensional coordinates of moving targets in space, which is of great significance to the dynamic real-time measurement of the spatial position of UAVs. [0003] The document "TargetpositioningforUAVTrackingBasedonCameraCalibration" discloses a UAV positioning algorithm based on camera calibration, and applies it to quadrotor UAVs. This method first establishes a linear camera imaging model, uses Zhang Zhengyou's plane calibration method to calculate the internal parameters of the camera, and then determines the camera attitude parameters according to the relative positions of known special marks. However, the external parameter calibration m...

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Application Information

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IPC IPC(8): G01C21/20G01S17/02
CPCG01C21/20G01S17/86
Inventor 杨涛张艳宁李治王斯丙刘小飞谢秀川
Owner NORTHWESTERN POLYTECHNICAL UNIV
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