A key technology for visual guidance of an unmanned helicopter

Abstract

The invention discloses a visual guidance method. An unmanned helicopter is navigated by other navigation modes to be close to a ship. Guidance is started on the premise; the guidance comprises stepsof first, controlling a holder carrying a camera; rotating to an initial position; opening a camera, acquiring a first image; carrying out noise removing, segmentation and other pretreatment on the obtained image; image preprocessing completion, identifying an auxiliary landing sign in the image; if the landing sign is identified, the processor is started; the auxiliary landing sign is not on theedge of the image; tRACKING ASSISTED LANDING MARKER, the height measured by the altimeter is adopted; the attitude angle of the pilotless helicopter, the rotation angle and pitch angle information ofthe cradle head and the focal length information of the camera are measured by the gyroscope; and the relative distance between the unmanned helicopter and the ship and the angle information of deviation of the central axis of the unmanned helicopter relative to the central axis of the ship can be calculated by combining the central position, the size and the pointing information of the auxiliarylanding sign on the picture.

Description

technical field [0001] The visual guidance in the unmanned helicopter landing process in the present invention, the unmanned helicopter landing mainly has the following two characteristics: first, because unmanned helicopters are generally arranged on small and medium-sized ships, the space The landing area is limited, so the landing area is relatively small; second, the ship is in a state of motion, which is not only the motion controlled by the ship's power, but also the irregular motion of the ship caused by wind and waves. Background technique [0002] In recent years, the research on the navigation and guidance methods of ship-borne unmanned helicopters has been supported by various countries; for the landing guidance of unmanned helicopters, GPS guidance, visual guidance, radar guidance, Research on GPS / vision combined guidance method; GPS guidance is a relatively mature navigation method, and its unparalleled global coverage makes it the earliest research object for u...

AI Technical Summary

Problems solved by technology

[0002] In recent years, the research on the navigation and guidance methods of ship-borne unmanned helicopters has been supported by various countries; for the landing guidance of unmanned helicopters, GPS guidance, visual guidance, radar guidance, Research on GPS / vision combined guidance method; GPS guidance is a relatively mature navigation method, and its unparalleled global coverage makes it the earliest research object for unmanned helicopter guidance methods. There are many successful examples, but GPS also has a fatal flaw. As we all know, GPS relies on receiving signals emitted by navigation satellites to achieve navigation. The received electromagnetic signals are easily interfered in wartime, so its security in wartime cannot be guaranteed; As the most mature navigation technology, high-altitude detection works well. This technology has certain angle and height restrictions. For landing helicopters, considering that the landing platform is in motion, such as a ship in motion, this cannot be guaranteed. Guided full coverage