Unmanned aerial vehicle autonomous landing runway area obstacle judgment and tracking method

Abstract

The invention belongs to the technical field of aircraft landing guidance, and discloses an unmanned aerial vehicle autonomous landing runway area obstacle judgment and tracking method. The method includes the steps that whether an obstacle exists in a landing area or not is judged; whether a direct threat exists on a landing route or not is judged; if the direct threat exists, hovering continues,and a landing cooperative target is detected; after the landing cooperative target is detected, the landing process starts, and a suspected obstacle is tracked in real time; ranging is conducted on the suspected obstacle, and it is ensured that no potential safety hazard exists on the landing route; if it is judged that the landing route is directly threatened, an unmanned aerial vehicle heaves up and flies again; the position of the obstacle is corrected every ten seconds through a UNet-based runway area obstacle judgment method; if it is judged that the landing route is not directly threatened, whether the unmanned aerial vehicle lands safely or not is judged; if the unmanned aerial vehicle lands safely, the landing process ends; if the unmanned aerial vehicle does not land, the suspected obstacle continues to be tracked in real time. The method guarantees the landing safety, judges whether the obstacle exists in the runway area, and conducts tracking if the obstacle exists.

Description

technical field [0001] The invention belongs to the technical field of aircraft landing guidance, and in particular relates to a method for judging and tracking obstacles in an autonomous landing runway area of ​​an unmanned aerial vehicle. Background technique [0002] At present, the closest existing technology: UAV (Unmanned Aerial Vehicle, UAV) is a kind of unmanned aircraft that controls the flight autonomously according to the input program. UAV technology has been widely used in battlefield reconnaissance, electronic countermeasures, target indication, battle result assessment, communication relay, land surveying and mapping, resource detection, air sampling, environmental monitoring, traffic management and other fields. In terms of military use, due to its non-manned characteristics, it can be used to perform dangerous tasks without worrying about personnel safety. With the development of science and technology, the important role of drones in reconnaissance and sur...

AI Technical Summary

Problems solved by technology

[0007] (1) It is necessary to build complex ground guidance facilities, and the requirements for the landing site are relatively strict, and the capital investment is large;

[0008] (2) Using radio beacons to guide the UAV to land, there is a risk of radio signal interference, which will affect the smooth landing of the UAV

[0011] (2) The GPS signal is an extremely weak radio signal, which is easily interfered by other radio signals and blocked by obstacles, so that the GPS signal cannot be received, which affects the smooth landing of the UAV;

[0012] (3) A single GPS signal cannot complete the measurement of the drone's attitude and heading information, but can only provide the speed and position information of the drone

During the landing phase, the flight state of the UAV changes greatly, and ground obstacles may appear during the landing process, which may affect safety. However, there is no research on the method of judging and tracking obstacles in the UAV landing area.

[0069] To sum up, the problems existing in the existing technology are: during the landing phase of the UAV, the flight state changes greatly, and ground obstacles may appear during the landing process, which will affect the safety. Research on Judgment and Tracking Method of Regional Obstacles

[0071] 1 During the landing process of the UAV, due to the great changes in the flight state and the complicated operation, it is necessary to judge whether there is an obstacle at a long distance;

[0072] 2 If only laser is used to detect obstacles on the ground, because all objects on the ground will have laser reflection, it is impossible to judge whether the ground object is an obstacle;

[0073] 3 Target detection and tracking algorithms cannot be used for the determination of obstacles in the landing area

However, the characteristics of obstacles are that the category, size, etc. are unknown, and it is impossible to collect all possible obstacles for pre-training

Images