Unmanned ship-oriented unmanned aerial vehicle autonomous landing control method

Abstract

The invention discloses an unmanned ship-oriented unmanned aerial vehicle autonomous landing control method, and belongs to the field of machinery and control. The method comprises the following steps: (1) determining an area where an unmanned ship is located through a GPS (Global Positioning System), and guiding an unmanned aerial vehicle to fly over the unmanned ship to complete first positioning; (2) after the unmanned aerial vehicle descends to the UWB effective height, determining the relative position of the unmanned aerial vehicle and the unmanned ship parking apron through an airborne UWB label, and completing second positioning; (3) identifying an AprilTag code of the parking apron through an airborne visible light camera, identifying a constant-temperature heat source on the parking apron through an airborne infrared camera at the same time, and fusing UWB, infrared and visible light positioning data to complete third positioning; and (4) when the unmanned aerial vehicle completes all positioning processes, starting an autonomous landing program to complete landing operation. The method depends on a multi-sensor information fusion technology, the accuracy and robustness of autonomous landing positioning of the unmanned aerial vehicle are well guaranteed, and the limitation that GPS positioning is not high in precision and traditional monocular vision positioning is prone to being interfered by the environment is overcome.

Description

technical field [0001] The invention relates to the technical field of machinery and control, in particular to an autonomous landing control method for unmanned boats. Background technique [0002] UWB technology is a wireless carrier communication technology, which has the advantages of low system complexity, low power spectral density of transmitted signals, insensitivity to channel fading, low interception capability, and high positioning accuracy. Since UWB communication utilizes a fairly wide bandwidth, It seems that the entire spectrum is used, and it can coexist with other applications, so UWB can be used in many fields, such as personal area networks, intelligent transportation systems, wireless sensor networks, radio frequency identification, imaging applications, and robot positioning, etc., machine vision Technology is an interdisciplinary subject involving artificial intelligence, computer science, image processing, pattern recognition and many other fields. Mach...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide an autonomous landing control method for unmanned boats to solve the problems of difficult landing recognition, low tracking efficiency, and poor robustness of unmanned aerial vehicles proposed in the above-mentioned background technology

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