Method and system for autonomous drone landing based on hybrid navigation of gps and image recognition

Abstract

The invention discloses a method and system for autonomous drone landing based on GPS and image recognition hybrid navigation. The method includes: 1) controlling the unmanned ship to stop moving according to the received landing instruction, and placing the landing pad on the unmanned ship 2) Control the drone to fly over the auxiliary landing platform and wait for the landing; 3) Process the images of the landing mark according to the drone, and identify the center of the landing mark picture Coordinates; 4) According to the center coordinates of the captured picture, the height data of the UAV and its coordinate position, the position, attitude angle and coordinate difference of the camera center relative to the landing mark are obtained; 5) According to the UAV camera center relative to the landing mark The position, attitude angle and the attitude angle of the on-board gimbal camera relative to the drone control the landing of the drone. The invention provides an autonomous landing method of a rotary-wing unmanned aerial vehicle with high precision, good reliability and low cost, and is especially suitable for the landing of the unmanned aerial vehicle on an unmanned ship.

Description

technical field [0001] The invention relates to unmanned aerial vehicle technology, in particular to an unmanned aerial vehicle autonomous ship landing system based on GPS and image recognition hybrid navigation. Background technique [0002] With the extensive attention and development of small rotor drones and unmanned ships in the past two decades, they have appeared in drone aerial photography, surveying and mapping, plant protection, unmanned ship water quality monitoring, and auxiliary rescue. Unmanned platforms can increase efficiency, reduce costs, and reduce unnecessary collateral damage. However, the ability of a single UAV and unmanned ship to perceive the field environment is not enough to meet the needs of its autonomous operation in the field, which limits its development and application in the field environment. Among them, small UAVs have poor load and endurance, and it is difficult to continue to perform tasks in the air. UAVs need to continuously replenish...

AI Technical Summary

Problems solved by technology

However, the field environment perception ability of a single UAV and unmanned ship is not enough to meet the needs of autonomous operations in the field, which limits its development and application in the field environment

Among them, the load and endurance of small UAVs are poor, and it is difficult to continue to perform tasks in the air. UAVs need to continuously replenish energy and replace batteries, so a lot of time and energy are wasted between going to and from the operating point and energy supply. on the flight

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