Precise landing control system and method based on multi-information fusion

Abstract

The invention discloses a precise landing control system and method based on multi-information fusion. The system comprises: a ground end module used as a UAV accurate landing target point to transmitan infrared image to the sky to be identified by a sky end module; and the sky end module configured to acquire and identify the infrared image transmitted by the ground end module, calculate the relative position of the ground end module, detect the ground relative height, perform data fusion on a visual module, a millimeter wave radar, and the flight control information of a UAV system acquiredin real time, and send a UAV navigation control signal. The method is implemented based on the above system. The system has a long detection distance, high detection precision and a good anti-interference ability.

Description

technical field [0001] The present invention mainly relates to the field of unmanned aerial vehicles, in particular to a precise landing control system and landing control method based on multi-information fusion. Background technique [0002] With the rise and development of UAVs, it is an inevitable trend for UAVs to develop unmanned and intelligent in the future. For UAVs to be intelligent and completely unmanned, UAVs must have functions such as UAV airports, automatic energy supply, and material delivery. Automatic landing and accurate landing are the prerequisites for realizing the above functions. [0003] Traditional UAVs use GPS, visible light vision, barometer, inertial navigation and other methods for landing control. Many environments and scenarios cannot be applied or the application effect is not ideal. [0004] Existing drones generally adopt a visual landing method, that is, use a single camera or dual cameras to collect and identify images such as the shape...

AI Technical Summary

Problems solved by technology

[0006] 1) The traditional visual landing adopts the visible light recognition method, which is not suitable for working in strong light, low light and no light environment, and has poor anti-interference ability

[0007] 2) Binocular vision distance measurement, short detection distance, low precision, easy to be interfered by light

[0008] 3) The height after the fusion of UAV barometer and inertial navigation is generally the height relative to the take-off point, which cannot satisfy multiple target points at different altitudes to take off and land back and forth

[0009] Another practitioner proposed that the landing control method adopts the inner and outer loop PID control schemes such as position, speed, and acceleration. The PID parameters are generally pre-tuned and cannot be changed during the flight. Therefore, the PID parameters cannot adapt to all external environments and are difficult to be compatible. DJI Series Commercial Flight Controllers

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