Precise autonomous take-off and landing method of unmanned aerial vehicle/boat imitating raptor bird attention distribution

Abstract

The invention discloses an unmanned aerial vehicle / boat accurate autonomous take-off and landing method simulating raptor bird attention distribution. The method comprises the steps that 1, designing the cooperative targets in an autonomous take-off and landing area; 2, acquiring a Boolean feature map of the image; 3, carrying out modeling by simulating a brauer attention distribution mechanism; 4, carrying out unmanned ship cooperative target identification based on a raptor bird attention distribution simulation mechanism; 5, carrying out strategy selection of autonomous landing of the unmanned aerial vehicle on the unmanned ship; 6, estimating the relative pose of the unmanned aerial vehicle / boat during take-off and landing; 7, judging whether landing succeeds or not. According to the method, the detection efficiency and accuracy of the cooperative target area and the identification points are improved; the system framework and the process are reasonable and efficient, and the task requirement for autonomous take-off and landing of the unmanned aerial vehicle on the unmanned ship can be met; besides, the stability and the anti-interference capability of visual navigation are improved.

Description

technical field [0001] The present invention is a research method for precise autonomous take-off and landing of UAV / boat based on biological vision, especially a method for precise and autonomous take-off and landing of UAV / boat imitating the attention distribution of raptors, which belongs to the autonomous navigation and control of UAV field. Background technique [0002] With economic development and the needs of future wars, maritime activities are gradually showing a high-density, diversified, and three-dimensional development trend. Intelligent products and equipment have emerged in the wave of artificial intelligence and automation technology development, and more tasks with complicated tasks and high risk factors have gradually been replaced by intelligent platforms. In the future in a diversified sea and air environment, UAV / boat collaborative operations will become a sharp edge for tasks such as maritime warfare, marine fishing, biological protection, environment...

AI Technical Summary

Problems solved by technology

[0008] Aiming at the problem of autonomous take-off and landing of unmanned aerial vehicles on unmanned boats in complex sea environment, the present invention provides a precise and autonomous take-off and landing method for unmanned aerial vehicles / boats imitating the attention distribution of raptors. The process framework of the method is as follows figure 1 As shown, the specific steps of the method are as follows:

Images