Unmanned aerial vehicle autonomous landing method based on two-dimensional code recognition

A two-dimensional code, drone technology, applied in the direction of altitude or depth control, can solve problems such as unfavorable accurate positioning and landing, high price, difficult to popularize, etc., to achieve a wide range of applications, strong damage resistance, and efficient landing. Effect

Pending Publication Date: 2022-08-02
JIANGSU UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Ordinary GPS sensors are cheap, but their positioning accuracy is at the meter level, and the error is greater when there is a gust of wind, so it is not suitable for high-precision local positioning and autonomous landing
On the market, GPS sensors with centimeter-level accuracy are expensive, complex to deploy, and have large errors in height estimation, so they are difficult to popularize
Separate accelerometer and barometer sensors have integral error accumulation, which is also not conducive to accurate positioning and landing

Method used

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  • Unmanned aerial vehicle autonomous landing method based on two-dimensional code recognition
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  • Unmanned aerial vehicle autonomous landing method based on two-dimensional code recognition

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Embodiment 1

[0027] see figure 1 , the present invention also provides a method for identifying the autonomous landing of a quadrotor UAV based on a two-dimensional code, and the process of using the UAV to identify the two-dimensional code to control its precise landing, including the following operation steps:

[0028] Step 1, the UAV receives the initial identification by the GPS positioning system and performs a hierarchical landing according to the UAV flight height;

[0029] Step 2, when the drone landed to a certain height, the target QR code can be searched to divide the area of ​​interest;

[0030] Step 3, in the area of ​​interest, the visual module performs image matching, and after the matching is successful, the spatial position of the two-dimensional code is positioned with the position of the drone as the origin to establish a spatial coordinate system;

[0031] Step 4: Receive the positioning coordinate information sent by the vision module and the altitude information sen...

Embodiment approach

[0044] Preferably, as an implementable embodiment: controlling the drone to hover at a certain height and enter the landing mode specifically includes the following operation steps:

[0045] Control the drone to continuously descend above the QR code position and feed back the altitude information in real time.

[0046] Landing is performed when the received altitude position information matches the landing mode.

[0047]The method for identifying the autonomous landing of a quadrotor UAV based on the two-dimensional code provided by the embodiment of the present invention utilizes the characteristics of the two-dimensional code to solve the problem that the destination cannot be correctly determined when there are multiple landmarks, and the method can also be used in other solutions. Among them, it is not only used for positioning but also used for real-time tracking. The use of two-dimensional codes is not only reliable, but also low in cost, easy to design, and highly acco...

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Abstract

The invention discloses an unmanned aerial vehicle autonomous landing method based on two-dimensional code recognition. Multiple pieces of sensor information are fused in different stages, in the initial stage, the unmanned aerial vehicle is mainly guided to fly to a target area through GPS information, and then through visual information search, a ground two-dimensional code is recognized, and coordinates of a landing position are locked. And finally, the height and target coordinates of the four-rotor unmanned aerial vehicle are calculated according to information of multiple sensors, and high-precision local positioning and autonomous landing of the four-rotor unmanned aerial vehicle are achieved through a flight control algorithm. According to the four-rotor unmanned aerial vehicle autonomous landing method based on two-dimensional code recognition, the landing precision and the tracking efficiency are remarkably improved.

Description

technical field [0001] The present invention relates to the technical field of positioning, and in particular, to an identification and positioning technology based on a two-dimensional code as a carrier. Background technique [0002] In recent years, especially in the civilian field, the application of plant protection drones, aerial photography drones and inspection drones has become more and more popular, which has greatly improved people's work efficiency and improved people's living experience. The outdoor positioning of human-machine mainly integrates sensors such as IMU and barometer through GPS. [0003] Ordinary GPS sensors are cheap, but their positioning accuracy is at the meter level, and the error is larger when there is a gust of wind, which is not suitable for high-precision local positioning and autonomous landing. GPS sensors with centimeter-level accuracy on the market are expensive, complicated to deploy, and have large errors in height estimation, so the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0676
Inventor 沈跃彭景怡尹九红滑宇倩章欣婷
Owner JIANGSU UNIV
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