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Infrared vision-based unmanned helicopter landing guiding and controlling method

An unmanned helicopter, guidance control technology, applied in attitude control, non-electric variable control, altitude or depth control, etc., can solve the problem that the safety, reliability, rapidity and autonomy of unmanned helicopter recovery cannot be taken into account at the same time. , to achieve the effect of not easy external interference, good real-time performance and high precision

Inactive Publication Date: 2018-06-29
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

However, these methods cannot take into account the safety, reliability, rapidity and autonomy of unmanned helicopter recovery at the same time.

Method used

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  • Infrared vision-based unmanned helicopter landing guiding and controlling method
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  • Infrared vision-based unmanned helicopter landing guiding and controlling method

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Embodiment Construction

[0031] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

[0032] This invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.

[0033] The invention discloses an infrared vision-based unmanned helicopter landing guidance control method. The software of the vision guidance system is installed in a computer, including an image processing system and an image calculation system. The former includes three parts: image preprocessing, image segmentation, and feature extraction. The image or video obtained from the visual sensor is easily affected by noise or background, and image preprocessing is often required first,...

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Abstract

The invention discloses an infrared vision-based unmanned helicopter landing guiding and controlling method. By adopting an infrared identification mark as an identification mark of a ship deck, an unmanned helicopter takes a photo for a cooperative target by adopting a camera with an infrared optical filter. The method comprises the following steps: in processing, firstly filtering the shot image, and performing binarization processing by adopting a threshold method; then, performing contour extraction to obtain the contour of the infrared cooperative target; calculating the central coordinates according to the contour of the infrared cooperative target, and calculating the position error of the unmanned helicopter relative the cooperative target, and the posture of the deck; and finally,regulating the position of the unmanned helicopter by a position controller of the unmanned helicopter according to the position error, and regulating the posture of the unmanned helicopter accordingto the posture of the deck. According to the method, the control is simple, the real-time property is good, the precision is high, the stability is good, and the application prospect is wide.

Description

technical field [0001] The invention relates to the technical field of navigation positioning and control, in particular to an infrared vision-based unmanned helicopter landing guidance control method. Background technique [0002] UAV (Unmanned Aerial Vehicle) refers to an unmanned aerial vehicle that can fly autonomously according to preset procedures or fly remotely through ground personnel to complete predetermined tasks. It is mainly used for battlefield reconnaissance, artillery correction, and target indication. , battlefield surveillance, relay guidance, electronic countermeasures and other more dangerous tasks. Compared with other types of drones, unmanned helicopters are highly maneuverable, can hover, and can take off and land vertically in a small space. Its military value has been fully valued by major military powers, and it has rapidly developed into the core force of the naval fleet and the most powerful armament system. At present, carrier-based aircraft h...

Claims

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Application Information

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IPC IPC(8): G05D1/04G05D1/08
CPCG05D1/042G05D1/0808
Inventor 周城宇甄子洋李佳欢邢冬静杨天开黄一敏
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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