Landing control method and device, unmanned equipment and storage medium

By combining the construction of three-dimensional map data at the takeoff point and image frame data in the landing stage, the precise positioning and position adjustment of the unmanned equipment is achieved, solving the problem of landing offset in complex environments and improving the landing accuracy and applicability.

CN119717865APending Publication Date: 2025-03-28GUANGZHOU XAIRCRAFT TECH CO LTD
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Patent Information

Application Number
CN202311245776.5
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2023-09-22
Publication Date
2025-03-28

AI Technical Summary

Technical Problem

When existing unmanned equipment lands in complex environments, due to GNSS data deviation, the positioning accuracy is reduced, resulting in a problem of landing offset.

Method used

The unmanned equipment constructs three-dimensional map data at the takeoff point, combines the image frame data of the landing stage, accurately locates the unmanned equipment and adjusts its position to achieve accurate landing.

Benefits of technology

In the event of failure of the global navigation satellite system, unmanned equipment can still land accurately, solving the problem of landing offset and improving landing accuracy and applicability.

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Abstract

The invention discloses a landing control method and device, unmanned equipment and a storage medium, and relates to the technical field of unmanned equipment.The method comprises the steps that an image frame set and a map point set of a take-off point are obtained, and the image frame set comprises the ground height and the shooting pose corresponding to a first image frame shot above the take-off point; the map point set comprises three-dimensional map points and feature points in the first image frame where the three-dimensional map points are observed; acquiring a second image frame, and acquiring an adjacent image frame from the image frame set according to the height of the second image frame to the ground; under the condition that the second image frame is matched with the adjacent image frame, determining a shooting pose of the second image frame according to a matched first feature point between the second image frame and the adjacent image frame and an observed target three-dimensional map point corresponding to the first feature point; and adjusting the position of the unmanned equipment based on the position offset between the shooting poses of the second image frame and the adjacent image frame, and controlling the unmanned equipment to land based on the adjusted position.
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