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Nested unmanned aerial vehicle (UAV) landing cooperation sign design and relative position and pose acquisition method

A technology of relative pose and acquisition method, which is applied in attitude control, three-dimensional position/channel control, etc., can solve the problem of poor real-time pose and pose of UAV, and achieve the effect of improving safety

Active Publication Date: 2019-05-07
NAT UNIV OF DEFENSE TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a nested UAV landing cooperation logo design and relative pose acquisition method and system, which are used to overcome the defects of poor real-time acquisition of UAV pose in the prior art, and improve the UAV pose. real-time acquisition

Method used

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  • Nested unmanned aerial vehicle (UAV) landing cooperation sign design and relative position and pose acquisition method

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Embodiment 1

[0027] Please refer to figure 1 , the present invention provides a nested UAV landing cooperation sign and relative pose acquisition method, by designing the nested cooperation sign, determining the feature extraction strategy of the cooperation sign at different heights, and obtaining the corresponding control points, and then According to the corresponding relationship between the coordinates of the control points in the world coordinate system and the points on the image, the position and attitude of the UAV relative to the cooperation sign are solved. Through the use of nested cooperation signs, it can ensure that the UAV can obtain the estimation of the current pose at different heights, which expands the application field, and through the combination of different geometric features, it has the ability to deal with the damage and occlusion of the edge of the sign. Must be able to cope.

[0028] As a preferred embodiment of the present invention:

[0029] Include the fol...

Embodiment 2

[0097] The embodiment of the present invention also provides a nested UAV landing cooperation sign and relative pose acquisition system, including a processor and a memory, and the memory stores a nested UAV landing cooperation sign and a relative pose acquisition program , the processor executes the steps of any of the above method embodiments when running the nested UAV landing cooperation flag and relative pose acquisition program.

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Abstract

The invention discloses a nested unmanned aerial vehicle (UAV) landing cooperation sign design and relative position and pose acquisition method and system. The method includes the following steps of:determining characteristic extraction strategies of cooperation signs at different heights by designing nested cooperation signs, and obtaining corresponding control points; and then solving the positions and poses of a UAV relative to the cooperation signs according to a corresponding relationship between coordinates of the control points in a world coordinate system and coordinates of points onan image. Through the use of the nested cooperation signs, the UAV can obtain the estimation of the current positions and poses at different heights in the whole landing process, and thus the application scene can be expanded; and in addition, through the combination of different geometrical characteristics, the method has a certain ability to deal with the problems of sign edge damage, occlusionand the like, and thus the safety performance can be improved.

Description

technical field [0001] The invention relates to the technical field of UAV autonomous landing, in particular to a nested UAV landing cooperation design mark and relative pose acquisition method and system. Background technique [0002] With the continuous development of UAV technology, small UAVs have been used more and more widely, and higher requirements have been put forward for their autonomous landing capabilities. The method of obtaining UAV position and orientation based on GPS / INS information is limited by the availability of GPS signals, and lacks the ability to deal with signal interference problems. Visual information aids are gradually being valued in UAV landing problems. [0003] In the literature ("Vision Based Autonomous Landing of an Unmanned Aerial Vehicle", Procedia Engineering, 2012, 38:2250-2256, Anitha G, Kumar R N G.), the H-type cooperative target was designed as a landing platform for unmanned helicopters, and carried out The autonomous landing expe...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
Inventor 张礼廉李鑫孟川舒胡小平范晨何晓峰毛军蔡宇
Owner NAT UNIV OF DEFENSE TECH