UAV autonomous landing control system and method for mobile platform

Abstract

The invention discloses a UAV autonomous landing control system and method for mobile platform, belongs to the crossing field of an aerial robots and computer vision, and relates to the autonomous landing technology of the UAVs. The system comprises the steps: a vision module disposed on a UAV, a landing target detection module, a UAV posture estimation module and a parameter comparison module. The method comprises the steps that when the UAV lands, the vision module obtains a real-time image, and carries out the threshold segmentation of the grayed image; a rotating matrix and a translation matrix of the UAV relative to a landing target are solved according to an image processing result, and the posture angle of the UAV is obtained through the correlation between the rotating matrix and an Euler angle; the posture information of the UAV is estimated in real time, and the flight of the UAV is judged and adjusted. The system combines the UAV technology and an image processing algorithm,achieves the precise landing of the UAV on the mobile platform, is higher in automation degree, is simpler in operation, improves the safety of the UAV, and reduces the accident rate of the UAV.

Description

technical field [0001] The invention belongs to the intersecting field of aerial robots and computer vision, relates to the autonomous landing technology of unmanned aerial vehicles, and specifically relates to a mobile platform-oriented autonomous landing control system and method for unmanned aerial vehicles. Background technique [0002] Today, the research and application of small unmanned aerial vehicles are becoming more and more common, and are widely used in surveillance, investigation, early warning, electronic countermeasures, communication relay and other military occasions and environmental monitoring, aerial survey and aerial photography, weather forecasting, earthquake fire and other disaster search and rescue , inspection of transmission lines and railway lines and other civil occasions. Since UAVs do not need to consider human physiological and psychological endurance limits when designing, they can have higher maneuverability and flexibility. [0003] Howev...

AI Technical Summary

Problems solved by technology

In the existing landing navigation methods, inertial navigation needs to obtain the approximate position and velocity information of the aircraft through integral operations, so that the error will continue to increase over time; in some specific environments, such as indoors, drones Sensors cannot acquire GPS signals accurate enough to track paths and detect objects; ground control navigation is subject to human factors

These factors can all lead to a failed landing

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