Large and small two-dimensional code mixed image landmark design method and unmanned aerial vehicle (UAV) landmark identification method

Abstract

The invention discloses a large and small two-dimensional code mixed image landmark design method and a UAV landmark identification method. The large and small two-dimensional code mixed image landmark design method comprises the following steps that large and small two-dimensional code units which form a landmark are created, and each of the two-dimensional code unit includes only one corner witha white subunit; the size of the landmark is set, and 4 large two-dimensional code units and 4 small two-dimensional code units are selected to form a landmark image; the large and small two-dimensional code units are arranged in a 2*2 rectangular array manner; and the white subunits of the large two-dimensional code units are arranged in the right lower corner. The large and small two-dimensional codes of different sizes are used cooperatively, so that a UAV can be identified and positioned more accurately in a smaller landmark area within the identification range of 0.5m-5m, and the problems of visual information loss and too large landmark during positioning in the whole UAV landing process can be solved directly.

Description

technical field [0001] The invention relates to the technical field of navigation and positioning of drones, in particular to a landmark design method of large and small two-dimensional code mixed images and a landmark recognition method of drones. Background technique [0002] When UAVs use visual guidance to land, they land from high altitude to the ground. Due to the high positioning accuracy requirements, the positioning accuracy of conventional GPS cannot meet the requirements, and the visual positioning technology can meet the requirements of accuracy and cost. Since the initial height of the drone landing is relatively high, generally 5-10 meters, and the height of the landing end is less than 1 meter, the field of view of the camera is required to be smaller and smaller, and the resolution of the camera and the design of landmarks have certain requirements. Require. [0003] In the current application of drones, due to limitations in purchasing power and cost perfor...

AI Technical Summary

Problems solved by technology

Since the camera is fixed-focus, the field of view of the drone will gradually shrink during the landing process of the drone. The current recognition landmark image only has a QR code or a small amount of traditional complex QR codes, and the height range of the recognition is relatively small. Covers the entire drop altitude range of the drone, so when the field of view is small enough it will cause visual positioning to fail

The failure of visual positioning will also directly affect the user's operation and bring a bad experience to the user

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