Unmanned plane automatic landing guiding method based on optical flow

Abstract

The invention provides an unmanned plane automatic landing guiding method based on an optical flow. In the process of landing, a marker is determined by processing the real-time image shot by the camera of an optical flow module, the position and attitude of the marker relative to an unmanned plane are estimated, the relative position and attitude information are sent to a flight controller to control the unmanned plane to gradually approach the landing target, and the full-autonomous landing of the unmanned plane can be ultimately achieved. Because the unmanned plane realizes the self-positioning in the autonomous flight and landing process by a downward viewing optical flow sensor, the visual positioning of itself can be completed without a GPS. And in the case of GPS failure, the auxiliary positioning can be carried out by means of the optical flow module, so that the unmanned plane can accurately find the landing site, and the reliability of the unmanned plane landing can be improved. The method is reasonable in design, can achieve accurate landing under different conditions, and is wide in applicability.

Description

technical field [0001] The invention relates to the field of autonomous navigation of unmanned aerial vehicles and robots, in particular to an optical flow-based automatic landing guidance method for unmanned aerial vehicles. Background technique [0002] In recent years, due to its small size, light weight, and good concealment, micro-UAVs have been widely used in various fields such as photography, monitoring, investigation, tracking, and mapping, and opened the era of UAV technology explosion. The new requirements for the use of civilian drones such as the recycling of shooting equipment by tiny platforms (such as car roofs) during dynamic tracking and shooting, and the fixed-point delivery of items in the express industry, all pose new challenges to the automatic landing technology of micro-UAVs. [0003] The most commonly used solution based on GPS automatic landing at present, but this type of automatic landing technology based on GPS navigation all has some shortcomin...

AI Technical Summary

Problems solved by technology

The new requirements for the use of civilian drones such as the recovery of shooting equipment from tiny platforms (such as car roofs) and the fixed-point delivery of goods in the express delivery industry during dynamic tracking and shooting, all pose new challenges to the automatic landing technology of micro-UAVs.

[0003] The most commonly used solution based on GPS automatic landing at present, but this type of automatic landing technology based on GPS navigation all has some shortcomings: 1) the current civilian GPS positioning accuracy can only reach 10 meters, for some areas with complex terrain, such as buildings In dense urban centers, it is very likely that the drone will crash during low-altitude approach due to navigation errors; 2) GPS signals are greatly interfered by non-air media, and the error will increase in areas with many obstacles (such as forests) Even the signal is missing; 3) Professional-grade high-precision GPS equipment is expensive and economical

However, the source delay method is still subject to environmental interference

Images