Unmanned aerial vehicle landing flight direction control method
A technology of direction control and flight direction, applied in the field of drones, can solve the problems of inaccurate landing control and single reference factors
Pending Publication Date: 2021-10-08
武夷科技信息(北京)有限公司
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Problems solved by technology
[0005] In order to solve the problem of single reference factor and imprecise landing control when UAVs land, the present invention claims a method for controlling the direction of UAVs landing and flying
Method used
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Embodiment 1
[0042] Specifically, refer to the attached figure 2 , Embodiment 1 of a method for controlling the direction of a UAV landing flight involved in the present invention, said S1: Acquiring the collected images of the UAV flying over the multi-terrain, specifically including:
[0043] S11. Perform image preprocessing, establish a noise model, complete spatial domain filtering and frequency domain filtering, and use Gaussian low-pass filtering plus median filtering;
[0044] S12. Using the Lucy-Richardision algorithm to perform global motion blur and local motion blur elimination;
[0045] S13. Using the improved K-means clustering method to re-cluster the real frame to obtain an anchor frame more suitable for the current data set;
[0046] S14. Adjust the structure of the convolutional layer, based on the sensitivity analysis of the L1 norm, and tailor it according to the analysis result.
[0047] Gaussian low-pass filtering is performed in the Fourier frequency domain, and the ...
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The invention relates to an unmanned aerial vehicle landing flight direction control method which is used for controlling the landing of an unmanned aerial vehicle when the unmanned aerial vehicle flies over a plurality of terrains and is characterized by comprising the steps: acquiring an acquired image when the unmanned aerial vehicle flies over the plurality of terrains; and identifying and detecting the acquired image when the unmanned aerial vehicle flies over the plurality of terrains, further acquiring data of a plurality of types of sensors mounted on the unmanned aerial vehicle, comparing and analyzing based on the identification and detection result and the sensor data, and controlling the landing flight direction of the unmanned aerial vehicle. According to the unmanned aerial vehicle landing flight direction control method, the problem of inaccurate image precision identification during current unmanned aerial vehicle landing control is avoided, the problems that dependence factors are single and environmental factors cannot be comprehensively analyzed during current landing control are solved, and by integrating the image and the environmental factors, and based on the specific condition of the current terrain environment, adaptive change landing control is performed, so that the flexibility and reliability of unmanned aerial vehicle control are improved.
Description
technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for controlling the direction of unmanned aerial vehicles landing and flying. Background technique [0002] Unmanned aircraft, referred to as "UAV", is an unmanned aircraft controlled by radio remote control equipment and its own program control device. There is no cockpit on board, but it is equipped with autopilot, program control device, signal acquisition device and other equipment. The personnel on the ground, on the ship, or at the remote control station of the parent aircraft track, locate, remotely control, telemeter and digitally transmit it through radar and other equipment. Under the radio control, it can take off like an ordinary aircraft or be launched into the air with a booster rocket, and it can also be taken into the air by the parent aircraft for flight. In the prior art, image tracking technology already exists in unmanned aerial veh...
Claims
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CPCG05D1/106
Inventor 王佩李帅
Owner 武夷科技信息(北京)有限公司