视觉导引的无人直升机自主着舰系统仿真

Simulation of Visually-guided Autonomous Landing System of Unmanned Helicopter

对于无人直升机着舰问题,提出了基于视觉导引的自主着舰方案;建立了一套无人直升机自主着舰仿真系统;建立了舰船运动模型,无人直升机六自由度非线性全量模型;设计了着舰特征图案,通过摄像机模型获取舰船上的特征图案;提出快速四点算法实现3D位姿估算,并以此构建视觉信息识别系统,识别直升机与舰船相对运动参数;通过分层控制思想,实现基于视觉信息导引着舰。在此基础上形成仿真闭环,对无人直升机定点自主着舰的全过程进行仿真验证。

To solve the problem of unmanned helicopter landing on a shipboard, the scheme for visionguidance based autonomous landing of an unmanned helicopter is proposed. System simulation of this unmanned helicopter autonomous landing system is established. A ship motion model is built, and a 6-DOF nonlinear model of aerodynamics and dynamics with various aircraft components is built also. By designing a characteristic picture putting on shipboard, the characteristic figures are captured by a digital camera model. A new faster relative 3 D position and attitude approach based on special four-points is put forward, and a vision information recognition system is realized based on this algorithm, and so the relative motion parameters between helicopter and ship are recognized. By designing a layered flight controller, and using vision information, the helicopter is guided to land on the shipboard. Based on this simulation platform, the whole process of autonomous landing of the unmanned helicopter can be simulated and validated.