UAV autonomous landing control system and method for mobile platform

A control system, autonomous landing technology, applied in the direction of control/regulation system, non-electric variable control, altitude or depth control, etc., can solve the problem that the UAV sensor cannot obtain a sufficiently accurate GPS signal, is controlled by human factors, and fails to land. and other problems, to achieve the effect of high degree of automation, reduction of accident rate, and improvement of safety

Inactive Publication Date: 2018-11-23
TAIYUAN UNIV OF TECH
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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 som

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  • UAV autonomous landing control system and method for mobile platform
  • UAV autonomous landing control system and method for mobile platform
  • UAV autonomous landing control system and method for mobile platform

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Embodiment Construction

[0056] The technical solutions of the present invention will be described in detail below in conjunction with the examples, but the scope of protection is not limited thereto.

[0057] Such as figure 1 As shown, the present invention provides a mobile platform-oriented UAV autonomous landing control system, including a vision module 1, a landing target detection module 2, a UAV pose estimation module 3 and a parameter comparison module 9.

[0058] Among them, the vision module 1 is used to acquire the image of the landing target. The vision module 1 includes an airborne camera 4, which is fixed at the bottom of the drone and shoots vertically downwards.

[0059] The landing target detection module 2 is used to perform image processing on the current frame image in real time, and transmit the processing result to the UAV pose estimation module 3 . The landing target detection module 2 includes a threshold segmentation unit 5 and a corner extraction unit 6 . The threshold seg...

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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...

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Application Information

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IPC IPC(8): G05D1/06G05D1/04
CPCG05D1/042G05D1/0684
Inventor 贾华宇马珺张伟
Owner TAIYUAN UNIV OF TECH
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