Independent unmanned aerial vehicle landing method and system based on two-dimensional code and inertial navigation assistance

Abstract

The invention provides an independent unmanned aerial vehicle landing method based on a two-dimensional code and inertial navigation assistance. An unmanned aerial vehicle, an onboard camera, an onboard computer, a GNSS positioning device, an inertial measurement component and a two-dimensional code with authorization information are arranged. The unmanned aerial vehicle flies near a landing pointby GNSS / INS combined navigation; with an image identification two-dimensional code collected by the camera, the authorization information is read when the image identification two-dimensional code matches a two-dimensional code information database successfully; the unmanned aerial vehicle determines the location of the center point of the two-dimensional code under the coordinate system of the unmanned aerial vehicle and an attitude of the unmanned aerial vehicle under a two-dimensional code local coordinate system by means of visual and inertial combined navigation; and the attitude of theunmanned aerial vehicle is adjusted and automatic landing is carried out by controlling offsets of the landing point and the landing attitude. Compared with the prior art, the method has the followingadvantages: the operation becomes easy; deployment costs are low; the environmental interference is eliminated; the stability and safety are high; and the method is suitable for various fields of logistics freight transportation and disaster relief and the like and is easy to promote.

Description

technical field [0001] The invention belongs to the technical field of positioning and attitude determination of drones, and in particular relates to a technical solution for autonomous landing of drones assisted by a two-dimensional code containing authorization information and inertial navigation. Background technique [0002] Two-dimensional code, also known as two-dimensional barcode. The data symbol information is recorded by black and white graphics distributed in a plane (two-dimensional direction) according to a certain specific geometric figure; in the code compilation, the "0" and "1" that constitute the internal logic basis of the computer are skillfully used. "The concept of bit stream uses several geometric shapes corresponding to binary to represent text and numerical information, which can be automatically read by image input equipment or photoelectric scanning equipment to realize automatic processing of information: it has some common features of barcode tec...

AI Technical Summary

Problems solved by technology

[0008] The above two solutions have the following deficiencies: 1) The two-dimensional code is nested in multiple layers, the design is more complicated, and the two-dimensional code does not contain any other information, so it cannot play a more effective role; 2) The landing process only relies on vision, robustness It is not strong, and it is easy to lose the lock of the QR code in the case of external interference (such as strong wind) and cannot land; 3) It does not involve the search of the QR code target before determining the landing target point

Images