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ArUco-label-based unmanned aerial vehicle visual guidance landing method

A vision-guided and unmanned aerial vehicle technology, which is applied in the direction of target-seeking control, image data processing, and instruments, can solve the problems of limited application scenarios, large environmental factors, and poor signal strength, so as to avoid installation and The effect of cost, rich coding, and accurate attitude calculation

Active Publication Date: 2020-04-10
西安因诺航空科技有限公司
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Among them, the positioning accuracy of differential GPS hardware can reach the centimeter level, but it is greatly affected by environmental factors, and the signal strength in more occluded or remote areas is poor, and the applicable scenarios are very limited; visual terminal guidance is mainly through computer Vision algorithms track marker boards to estimate aircraft position for precise landing at the end of a flight, but how to scale it to airports where multiple aircraft can land, how to operate around the clock day and night, and how to ensure the accuracy of guided landing is The current problems to be solved by this type of method

Method used

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  • ArUco-label-based unmanned aerial vehicle visual guidance landing method
  • ArUco-label-based unmanned aerial vehicle visual guidance landing method
  • ArUco-label-based unmanned aerial vehicle visual guidance landing method

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Embodiment

[0053] The invention provides a UAV vision-guided landing method based on ArUco tags. The whole process consists of five main parts: generating the ArUco logo board, receiving and analyzing flight control instructions, executing the visual landing algorithm, sending the result to the flight control, and responding to the flight control action, and the main body of the algorithm is on the onboard ARM board NVIDIA Jetson Nano completed. The flow chart of the method is as follows figure 1 shown.

[0054] The concrete implementation steps of described method are as follows:

[0055] Step S1: Generate ArUco logo board. Each ArUco Marker is a binary square marker, which consists of a wide black border and an internal binary matrix, where the black border facilitates quick detection of images, and the binary code is used to determine the Marker's ID, and errors are added Detection and correction techniques for improved fault tolerance. There are many forms of Marker, and the dic...

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PUM

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Abstract

The invention discloses an ArUco label-based unmanned aerial vehicle visual guidance landing method. The ArUco-label-based unmanned aerial vehicle visual guidance landing method adopts an ArUco mark plate generating end, a visual algorithm processing end, a flight control and visual algorithm communication end, and a flight control action response end. According to the ArUco-label-based unmanned aerial vehicle visual guidance landing method, effective expansion of an airport is realized according to the properties of rich ArUco label codes, normal operation of the airport at night is ensured by utilizing a mode of lightening a sign board by a rear projection lamp, and the accuracy of visual landing is further improved by virtue of the characteristics of high library tolerance and accurateattitude calculation of an ArUco algorithm.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an ArUco tag-based vision-guided landing method for unmanned aerial vehicles. Background technique [0002] With the gradual diversification of unmanned aerial vehicle (UAV) applications in the industry, in the face of complex and harsh operating environments, reliability and intelligence have become important factors to measure the maturity of UAV systems. As a part of the intelligent application of space-based robots, the UAV vision-guided landing module can effectively avoid the position offset caused by inaccurate GPS information at the time of UAV landing, and provide a solution for UAV landing at the end of a fixed airport or a vehicle-mounted airport. Accurate secondary information. [0003] In recent years, in order to solve the problem of UAV landing accuracy caused by the lack of accuracy of ordinary GPS, a variety of solutions have emerged...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05D1/12G06T7/73
CPCG05D1/101G05D1/12G06T7/73
Inventor 雍旭东香玫元
Owner 西安因诺航空科技有限公司
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