Unmanned aerial vehicle landing guidance system and method based on binocular measurement

Abstract

The embodiment of the invention provides an unmanned aerial vehicle landing guidance system and method based on binocular measurement. The system is applied to the technical field of unmanned aerial vehicle control and comprises a timing module, a calibration module, a high-definition camera, an industrial personal computer, a transmission module and a wireless communication module. The timing module is connected with the high-definition camera through the transmission module; the calibration module is connected with the industrial personal computer through the transmission module and is used for calibrating the high-definition camera and correcting camera distortion; the high-definition camera is connected with the industrial personal computer through the transmission module and used for collecting image data of the rotor unmanned aerial vehicle in the vertical landing process; an image data processing module is arranged in the industrial personal computer and is used for carrying out matching processing on the flight information to obtain unmanned aerial vehicle resolving data; the wireless communication module is connected with the industrial personal computer and used for transmitting the data to the unmanned rotorcraft and correcting landing parameters of the unmanned rotorcraft. In this way, the accuracy, universality and safety of unmanned aerial vehicle control can be effectively improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of unmanned aerial vehicle control, and in particular to a unmanned aerial vehicle landing guidance system and method based on binocular measurement. Background Art

[0002] With the rapid development of autonomous control technology for drones and the rapid increase in the demand for carrying out diversified tasks, the demand for drones to have the ability to perform tasks autonomously is becoming increasingly strong. As we all know, during the mission of an aircraft, the take-off and landing stages have the highest risk factors. Among them, the navigation positioning and flight status measurement values ​​of drones that cross the boundary will cause errors in judgment during the autonomous decision-making process and cause flight accidents. Therefore, accurate landing guidance for drones is very important.

[0003] The traditional GPS guidance method has the problems of low positioning accuracy and large parameter measurement deviation. Although more advanced laser guidance positioning methods can solve the problems of traditional methods, they also occupy the UAV payload and each UAV must be equipped with a laser measurement system, which increases the unit cost and maintenance cost of the UAV, and cannot achieve the problem of test data sharing.

[0004] Therefore, there is an urgent need for a low-cost, universal and highly safe UAV landing guidance system and method. Summary of the invention

[0005] The present invention provides a UAV landing guidance system and method based on binocular measurement, which solves the technical problems of complex design, low precision, high cost and poor generalization of existing technologies.

[0006] According to a first aspect of the present disclosure, there is provided a UAV landing guidance system based on binocular measurement, comprising: a time synchronization module, a calibration module, a high-definition camera, an industrial computer, a transmission module, and a wireless communication module;

[0007] The time system module is connected to the high-definition camera through the transmission module, and is used to convert the acquired time information into a data format through the transmission module and transmit it to the high-definition camera for time prompting;

[0008] The calibration module is connected to the industrial computer via the transmission module, and is used to calibrate the high-definition camera to correct camera distortion;

[0009] The high-definition camera is connected to the industrial computer through the transmission module, and is used for collecting image data of the rotary-wing UAV during vertical landing. The high-definition camera obtains a flight information image of the rotary-wing UAV by simultaneously and synchronously photographing the vertically landing rotary-wing UAV, and transmits the flight information image to the industrial computer through the transmission module for processing;

[0010] The industrial computer has a built-in image data processing module, which performs matching and binocular vision measurement processing on the flight information image to obtain drone solution data;

[0011] The wireless communication module is connected to the industrial computer and is used to transmit the drone solution data of the industrial computer to the rotary-wing drone through wireless communication, correct the drone landing parameters, and complete the landing guidance of the rotary-wing drone.

[0012] According to the aspects and any possible implementations described above, an implementation is further provided, wherein the high-definition cameras include four cameras, and the four high-definition cameras are grouped in pairs to capture images of the landing area in different regions.

[0013] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein the calibration module includes a calibration mobile station and a target.

[0014] According to a second aspect of the present disclosure, a method for guiding a drone to land based on binocular measurement is provided, comprising the following steps:

[0015] S1, deploying the high-definition camera along a specific location of the landing area and calibrating the high-definition camera using the calibration module to obtain a calibration file;

[0016] S2, transmitting the acquired time information to the high-definition camera through the time system module, and taking images of the rotary-wing UAV through the high-definition camera to obtain time-stamped image data;

[0017] S3, transmitting the time-stamped image data to the industrial computer through the transmission module for processing, and obtaining the UAV solution data in combination with the calibration file;

[0018] S4, transmitting the UAV solution data to the rotary-wing UAV through the wireless communication module to guide the UAV to land.

[0019] According to the above aspects and any possible implementation, an implementation is further provided, wherein the process of step S1 includes:

[0020] S101, placing the high-definition cameras in a rectangular manner at the four corners of the landing area, and pointing the optical axes of the high-definition cameras toward the landing center;

[0021] S102, moving the calibration mobile station within the landing field, controlling the high-definition camera to shoot the target on the calibration mobile station to obtain target image data, transmitting the target image data to the industrial computer, obtaining the dynamic position coordinates of the calibration mobile station and the target positioning information, and then forming a system calibration file to complete the calibration.

[0022] According to the above aspects and any possible implementation, there is further provided an implementation, wherein the center of the landing area is located at the intersection of the diagonals of the rectangle;

[0023] The angle between the optical axis and the high-definition camera is 45°.

[0024] According to the above aspects and any possible implementation, an implementation is further provided, wherein the calibration process is: taking the center of the landing area as the origin of the spatial coordinate system, taking the due north direction as the X-axis, the due east direction as the Y-axis, and the zenith as the Z-axis, to obtain the spatial coordinate system;

[0025] The drone coordinate system is established with the take-off and landing area of ​​the rotary wing drone as the origin of the coordinate system, the north direction as the X-axis, the east direction as the Y-axis, and the downward direction of the drone body as the Z-axis;

[0026] According to the spatial coordinate system and the UAV coordinate system, the conversion matrix between the two is established to complete the calibration.

[0027] According to the aspects described above and any possible implementation method, an implementation method is further provided, wherein the drone solution data includes spatial information of the rotor drone's position relative to the center of the landing area, the rotor drone's flight parameters and the landing attitude.

[0028] According to the above aspects and any possible implementation, an implementation is further provided, wherein the calculation process of step S3 includes:

[0029] S301, constructing a space coordinate system and a camera coordinate system according to the calibration file and setting virtual control points;

[0030] S302, respectively determining the coordinates of the virtual control point in the spatial coordinate system and the camera reference coordinate system, and establishing a functional relationship between the coordinates of the virtual control point in the spatial coordinate system and the coordinates of the spatial coordinate system, and a functional relationship between the coordinates of the virtual control point in the camera coordinate system and the coordinates of the camera coordinate system, and calculating the coordinates of the spatial coordinate system and the coordinates of the camera coordinate system;

[0031] S303, respectively calculating the center of the space coordinate system and the center of the camera coordinate system according to the coordinates of the space coordinate system and the coordinates of the camera coordinate system, and obtaining a space matrix and a camera matrix by calculation;

[0032] S304, calculating the height of the rotary-wing UAV and the rotation matrix and translation vector of the rotating UAV according to the space matrix and the camera matrix.

[0033] The present invention discloses the following technical effects:

[0034] (1) The present invention adopts visible light optical measurement technology to solve the problem that traditional electrical measurement technology is susceptible to interference and has complex electromagnetic compatibility design. At the same time, the measurement system is offline and the measurement equipment is not mounted on the UAV body, which solves the problem that the existing measurement system occupies the UAV payload and directly improves the payload capacity and endurance time of the UAV in performing tasks.

[0035] (2) The present invention adopts a universal design and does not distinguish between target models, types, shapes, materials and other attributes. One system can provide measurement landing information for all vertical landing rotorcraft UAVs. It is easy to use and can be placed at the four corners of the landing site to carry out work. It is safe and reliable. When a module fails during the measurement task, it can be quickly maintained on the ground without affecting the flight safety of the UAV.

[0036] (3) The system of the present invention adopts TSN network transmission mode, with low transmission delay and good synchronization of output data from four high-definition cameras. The system can process image data in real time and guide the drone to land in time.

[0037] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, among which:

[0039] Figure 1 A schematic diagram of the structure of a UAV landing guidance system based on binocular measurement according to an embodiment of the present disclosure is shown;

[0040] Figure 2 A schematic diagram of a method for guiding a drone landing based on binocular measurement according to an embodiment of the present disclosure is shown;

[0041] Figure 3 A schematic diagram of high-definition camera station layout for a UAV landing guidance method based on binocular measurement according to an embodiment of the present disclosure is shown;

[0042] Figure 4 A schematic diagram of a high-definition camera measurement viewing angle of a UAV landing guidance method based on binocular measurement according to an embodiment of the present disclosure is shown;

[0043] Figure 5 A schematic diagram of a spatial coordinate system of a UAV landing guidance method based on binocular measurement according to an embodiment of the present disclosure is shown;

[0044] Figure 6 A schematic diagram of a drone coordinate system of a drone landing guidance method based on binocular measurement according to an embodiment of the present disclosure is shown;

[0045] Figure 7 A schematic diagram of the conversion of the spatial coordinate system and the UAV coordinate system of a UAV landing guidance method based on binocular measurement according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0047] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] Please refer to Figure 1 As shown, this embodiment provides a UAV landing guidance system based on binocular measurement, including: a time synchronization module 1, a calibration module 2, a high-definition camera 3, an industrial computer 4, a transmission module 5, and a wireless communication module 6;

[0049] The time system module 1 is connected to the high-definition camera 3 through the transmission module 5, and is used to convert the acquired time information into data format through the transmission module 5 and transmit it to the high-definition camera 3 for time prompting; the time system module 1 has the function of 1PPS+TOD output time signal, which is used to provide the system with whole second time information, and convert it into the form of year, month, day, hour, minute and second, such as 20201220183045. The time data sent by the satellite navigation system (including Beidou and GPS) is received through the time system module 1, and connected to the TSN switch through the 1PPS+TOD output method. The TSN switch converts it into the year, month, day, hour, minute and second in the network format, and provides each module of the system with time information accurate to whole seconds through network transmission.

[0050] The calibration module 2 is connected to the industrial computer 4 through the transmission module 5, and is used to calibrate the high-definition camera 3 and correct the camera distortion; the calibration module 2 transmits the target position data back to the industrial computer 4 by wireless communication, and performs calibration data processing, which includes a calibration mobile station and the target thereon.

[0051] The high-definition camera 3 is connected to the industrial computer 4 through the transmission module 5, and is used for collecting image data of the rotor UAV during vertical landing. The high-definition camera 3 obtains the flight information image of the rotor UAV by simultaneously and synchronously shooting the vertically landing rotor UAV, and transmits the flight information image to the industrial computer 4 through the transmission module 5 for processing; the high-definition camera 3 is a system optical measurement sensor, which is used for collecting image data of the rotor UAV during vertical landing. It can be remotely controlled, automatically triggered or manually triggered, and has functions such as image key frame downloading, slow playback, fast detection, and remote focusing; the equipped zoom lens can meet the clear imaging requirements of different fields of view.

[0052] The industrial computer 4 has a built-in image data processing module to match the flight information image and perform binocular vision measurement processing to obtain the drone solution data. The industrial computer 4 is equipped with a TSN network card, which can transmit with the transmission module 5 through the TSN protocol and has a transmission redundancy backup function based on the 802.1CB protocol; it is installed with image processing software for functions such as module control, equipment status display, image data acquisition and processing, and measurement data transmission control.

[0053] The transmission module 5 is equipped with a TSN switch, which can ensure the determinism of data transmission delay between modules of the system. It is compatible with the standard Ethernet protocol (high-speed camera outputs standard Ethernet protocol video stream), has 1PPS+TOD input function, and has TSN protocol, including: 802.1AS (time synchronization), 802.1Qav and 802.1CB, etc. The switching forwarding delay is no more than 15us, which can ensure that multiple high-definition camera video streams are transmitted to the industrial computer 4 in real time using the TSN protocol to ensure the integrity of the processed image pairs; it has serial port, SDI and network port conversion functions, which are used for data interaction between high-definition camera 3, wireless communication module 6, calibration module 1 and industrial computer 4 (equipped with TSN network card), and provide time synchronization signal for the system.

[0054] The wireless communication module 6 is connected to the industrial computer 4 and is used to transmit the UAV solution data of the industrial computer 4 to the rotary-wing UAV through wireless communication, correct the UAV landing parameters, and complete the landing guidance of the rotary-wing UAV.

[0055] Please refer to Figure 2 As shown, this embodiment also provides a UAV landing guidance method based on binocular measurement, which specifically includes the following steps:

[0056] S1. Deploy a high-definition camera 3 along a specific location of the land area and calibrate the high-definition camera 3 using a calibration module 2 to obtain a calibration file.

[0057] Specifically, this embodiment designs the working distance of the high-definition camera 3 and the installation spacing of the cameras according to the measurement field of view of the landing area of ​​the rotor UAV. A typical working scenario is that four high-definition cameras are arranged in a rectangular manner at the four corners of the measurement field, and the center of the landing area is located at the intersection of the diagonal lines of the rectangle. The optical axes of the four high-definition cameras point to the landing center direction, and the angle between the optical axis and the camera connection line is about 45°. Figure 3 and Figure 4 As shown in the figure, according to the IP of the camera, the four high-definition cameras are numbered as camera 1, camera 2, camera 3, and camera 4. The cameras are sequentially formed into visible light binocular measurement groups in pairs, where camera 1-2 is the first group, camera 2-3 is the second group, camera 3-4 is the third group, and camera 4-1 is the fourth group. The landing area is cut according to the number of the four groups, which are responsible for cutting different areas of the field of view. The four groups of visible light binocular measurement groups jointly perform binocular vision measurement on the vertically landing rotor UAV at the same time, and obtain the spatial information of the four degrees of freedom of the target UAV fuselage relative to the landing center, flight parameters, landing posture and other intelligence, and the system measures the perspective top view.

[0058] After the system is deployed, the measurement system is calibrated. The calibration mobile station and the target move in the field of view. The receiver receives the carrier information sent by the base station in real time, and sends the received data to the industrial computer 4 installed with the calibration software. The calibration software calculates the dynamic position coordinates of the mobile receiving end in real time. At the same time, the four high-definition cameras aim at the target in real time to collect target image data, and synchronously send the image data to the industrial computer 4. The calibration software completes the calibration data processing in combination with the target positioning information to form a system calibration file.

[0059] The specific calibration process is to take the center of the landing area as the origin of the spatial coordinate system, the due north direction as the X-axis, the due east direction as the Y-axis, and the zenith as the Z-axis to obtain the spatial coordinate system; take the rotor UAV take-off and landing area as the origin of the coordinate system, the due north direction as the X-axis, the due east direction as the Y-axis, and the downward direction of the UAV body as the Z-axis to establish the UAV coordinate system; establish the conversion matrix between the spatial coordinate system and the UAV coordinate system according to the two to complete the calibration.

[0060] This measurement system uses the North East Sky (NEU) coordinate system as the world coordinate system, the landing center O as the coordinate origin, the north direction as the X axis, the east direction as the Y axis, and the zenith as the Z axis to establish the North East Sky (NEU) coordinate system of the landing area, such as Figure 5 The system calibration module converts the latitude and longitude values ​​in the WGS-84 coordinate system to the North East coordinate system, and the measured target spatial position and motion parameters are also the values ​​in the North East coordinate system.

[0061] Rotary-wing UAV platforms usually use two coordinate systems: the "body coordinate system" and the "Earth-fixed coordinate system". The body coordinate system uses the center of gravity of the UAV as the coordinate origin, the direction of the nose as the X-axis, the vertical axis of the Z-axis pointing downward, and the direction of the Y-axis is determined by the right-hand rule. In order to keep the UAV platform working in conjunction with other associated systems, the "Earth-fixed coordinate system" must be used as a unified coordinate system. UAV platforms usually use the North-East Earth (NED) coordinate system as the "Earth-fixed coordinate system", with the center of the rotorcraft take-off and landing area as the coordinate origin, the north direction as the X-axis, the east direction as the Y-axis, and the downward direction of the body as the Z-axis to establish the North-East Earth (NED) coordinate system of the landing area. When the UAV takes off and lands, its "body coordinate system" needs to be converted to the "Earth-fixed coordinate system". During the conversion process, the UAV coordinate system and the flight attitude angles in the coordinate system can be obtained. Pitch is the pitch angle, roll is the roll angle, and yaw is the yaw angle, such as Figure 6 shown.

[0062] When guiding the rotor UAV to land, this system also needs to convert its own North East Universe (NEU) coordinate system to the North East Earth (NED) coordinate system of the UAV platform, so as to guide it to land safely with the UAV platform as the main body. Keep the X-axis and Y-axis unchanged, and invert the height value Z of the UAV (Z = -Z'). The coordinate conversion process is as follows: Figure 7 shown.

[0063] S2. The acquired time information is transmitted to the high-definition camera 3 through the time system module 1, and the high-definition camera 3 is used to shoot the image of the rotary-wing UAV to obtain time-stamped image data.

[0064] Specifically, when the system starts measuring, the B code timing module of the time system module 1 obtains the time information of Beidou or GPS, and converts its data format into the TSN protocol network format through the TSN switch and transmits it to the high-definition camera 3. The high-definition camera 3 synchronously shoots the rotor UAV target in 4 degrees of freedom under triggering, and the target image data is uploaded to the industrial computer 4 through the transmission module 5. The image processing software matches the image data taken by each camera through the timestamp information to obtain the time-stamped image data.

[0065] S3. The time-stamped image data is transmitted to the industrial computer 4 through the transmission module 5 for processing, and the UAV solution data is obtained in combination with the calibration file.

[0066] This embodiment obtains the motion information of the rotary-wing UAV by constructing the relationship between the spatial coordinate system and the camera coordinate system and calculating it in combination with the calibration file. Specifically, it includes constructing the spatial coordinate system and the camera coordinate system according to the calibration file and setting the virtual control point; determining the coordinates of the virtual control point in the spatial coordinate system and the camera reference coordinate system respectively and establishing the functional relationship between the virtual control point spatial coordinate system coordinates and the spatial coordinate system coordinates and the functional relationship between the virtual control point camera coordinate system coordinates and the camera coordinate system coordinates, and calculating the spatial coordinate system coordinates and the camera coordinate system coordinates; calculating the spatial coordinate system center and the camera coordinate system center according to the spatial coordinate system coordinates and the camera coordinate system coordinates, and calculating the spatial matrix and the camera matrix; calculating the height of the rotary-wing UAV and the rotation matrix and translation vector of the rotating UAV according to the spatial matrix and the camera matrix.

[0067] In this embodiment, k and c are used to represent the coordinates in the space coordinate system and the camera coordinate system, respectively, so the coordinates in the space coordinate system are The coordinates in the camera reference coordinate system are Therefore, by setting the weighted coordinates of the four virtual control points to represent the points in the space, the coordinates of the four virtual control points in the space coordinate system are The coordinates in the camera reference coordinate system are From this we can get:

[0068]

[0069] Among them, α ij are homogeneous centroid coordinates.

[0070] Calculated The center of gravity is:

[0071]

[0072] From this we can get the space coordinate matrix:

[0073]

[0074] Calculated The center of gravity is:

[0075]

[0076] From this, the camera reference coordinate matrix can be obtained as:

[0077]

[0078] Thus, we get the matrix K and matrix C. By establishing the relationship between the two matrices, we get the height H of the rotorcraft and the landing area. The calculation process is:

[0079] H=CT K (6)

[0080] At the same time, the rotation matrix R and translation vector T are calculated:

[0081] R=UV T (7)

[0082] Among them, U, V T For the SVD decomposition of height H, we have:

[0083] H=U∑V T (8)

[0084] From this, the translation vector T can be calculated as:

[0085]

[0086] S4, transmitting the drone solution data to the rotary-wing drone through the wireless communication module 6, and guiding the drone to land.

[0087] After the target UAV enters the system's measurement field of view, the high-definition camera 3 collects image data from it and uploads the data to the industrial computer. The image processing software calculates the spatial position of the UAV relative to the landing center, flight parameters, landing attitude angle and other information; the system uploads the UAV intelligence to the UAV platform in real time through wireless communication, and the flight control system corrects the flight parameters and landing attitude, and finally completes the landing guidance task of the rotary-wing UAV; at the same time, the industrial computer terminal image processing software can display the video data uploaded by the high-definition camera through the SDI interface, and conduct real-time monitoring of the landing process of the rotary-wing UAV in 4 degrees of freedom to ensure the safety of the UAV landing. After this guidance is completed, the system enters the standby state and waits for the next cycle.

[0088] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present disclosure is not limited by the order of the actions described, because according to the present disclosure, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present disclosure.

[0089] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0090] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A UAV landing guidance system based on binocular measurement, characterized in that: include: Time system module (1), calibration module (2), high-definition camera (3), industrial computer (4), transmission module (5), wireless communication module (6); The time system module (1) is connected to the high-definition camera (3) via the transmission module (5) and is used to convert the acquired time information into a data format via the transmission module (5) and transmit it to the high-definition camera (3) for time prompting; The calibration module (2) is connected to the industrial computer (4) via the transmission module (5) and is used to calibrate the high-definition camera (3) to correct camera distortion; The high-definition camera (3) is connected to the industrial control computer (4) via the transmission module (5) and is used for collecting image data of the rotary-wing UAV during vertical landing. The high-definition camera (3) obtains a flight information image of the rotary-wing UAV by simultaneously and synchronously photographing the rotary-wing UAV during vertical landing, and transmits the flight information image to the industrial control computer (4) via the transmission module (5) for processing; The industrial computer (4) has a built-in image data processing module, which performs matching and binocular vision measurement processing on the flight information image to obtain drone solution data; The wireless communication module (6) is connected to the industrial control computer (4) and is used to transmit the drone solution data of the industrial control computer (4) to the rotary-wing drone via wireless communication, correct the drone landing parameters, and complete the landing guidance of the rotary-wing drone.

2. The UAV landing guidance system based on binocular measurement according to claim 1 is characterized in that: There are four high-definition cameras (3), which are grouped in pairs to capture images of the landing area in different areas.

3. The UAV landing guidance system based on binocular measurement according to claim 1 is characterized in that: The calibration module (1) comprises a calibration mobile station and a target.

4. A UAV landing guidance method based on binocular measurement, implemented using the UAV landing guidance system according to any one of claims 1 to 3, characterized in that: The following steps are involved: S1, deploying the high-definition camera (3) along a specific position of the land area and calibrating the high-definition camera (3) using the calibration module (2) to obtain a calibration file; S2, transmitting the acquired time information to the high-definition camera (3) through the time system module (1) and photographing the image of the rotary-wing UAV through the high-definition camera (3) to obtain time-stamped image data; S3, transmitting the time-stamped image data to the industrial computer (4) through the transmission module (5) for processing, and obtaining drone solution data in combination with the calibration file; S4, transmitting the drone solution data to the rotary-wing drone via the wireless communication module (6), and guiding the drone to land.

5. The method for guiding the landing of an unmanned aerial vehicle according to claim 4, characterized in that: The process of step S1 includes: S101, placing the high-definition cameras (3) in a rectangular manner at the four corners of the landing area, and directing the optical axis of the high-definition cameras (3) toward the landing center; S102, moving the calibration mobile station within the landing field, controlling the high-definition camera (3) to photograph the target on the calibration mobile station, obtaining target image data, transmitting the target image data to the industrial computer (4), obtaining the dynamic position coordinates of the calibration mobile station and target positioning information, and then forming a system calibration file to complete the calibration.

6. The method for guiding the landing of an unmanned aerial vehicle according to claim 5, characterized in that: The center of the landing area is located at the intersection of the diagonals of the rectangle; The angle between the optical axis and the line connecting the high-definition camera (3) is 45°.

7. The method for guiding the landing of an unmanned aerial vehicle according to claim 6, characterized in that: The calibration process is as follows: taking the center of the landing area as the origin of the spatial coordinate system, taking the due north direction as the X-axis, the due east direction as the Y-axis, and the zenith as the Z-axis, to obtain the spatial coordinate system; The drone coordinate system is established with the take-off and landing area of ​​the rotary wing drone as the origin of the coordinate system, the north direction as the X-axis, the east direction as the Y-axis, and the downward direction of the drone body as the Z-axis; According to the spatial coordinate system and the UAV coordinate system, the conversion matrix between the two is established to complete the calibration.

8. The method for guiding the landing of an unmanned aerial vehicle according to claim 4, characterized in that: The drone solution data includes the spatial information of the rotor drone relative to the center of the landing area, the rotor drone flight parameters and the landing attitude.

9. The method for guiding the landing of an unmanned aerial vehicle according to claim 8, characterized in that: The calculation process of step S3 includes: S301, constructing a space coordinate system and a camera coordinate system and setting virtual control points according to the calibration file; S302, respectively determining the coordinates of the virtual control point in the spatial coordinate system and the camera reference coordinate system, and establishing a functional relationship between the coordinates of the virtual control point in the spatial coordinate system and the coordinates of the spatial coordinate system, and a functional relationship between the coordinates of the virtual control point in the camera coordinate system and the coordinates of the camera coordinate system, and calculating the coordinates of the spatial coordinate system and the coordinates of the camera coordinate system; S303, respectively calculating the center of the space coordinate system and the center of the camera coordinate system according to the coordinates of the space coordinate system and the coordinates of the camera coordinate system, and obtaining the space matrix and the camera matrix by calculation; S304, calculating the height of the rotary-wing UAV and the rotation matrix and translation vector of the rotating UAV according to the space matrix and the camera matrix.

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