基于摄像头定标的无人机位置和姿态的检测

Detection of Robot Plane' Location and Gesture Based on Camera Calibration

近年来,无人机技术发展十分迅速,已经被广泛的应用于军事和民用等领域。无人机的回收是无人机整个控制过程中的重中之重。无人机相对机场的方位和三维姿态信息是反映其飞行状态的重要指标,只有精确得到了这些数据信息,才能实现对其正确的稳定的控制,保证无人机安全着陆。随着计算机视觉相关算法性能和可靠性不断提高,完善的实时算法的广泛应用,针对无人机的特点,文章设计了一种基于单目视觉的无人机自主着陆法,完成了无人机空中位姿的判断。实验证明,该方法是可靠和有效的。

In recent years,the technology of robot plane is developing quickly,which has a broad apply on the military and civil fields.The callback of robot plane is the most important moment of entire control process.And the orientation and three-dimensional post of robot plane is important target of its flight state,once getting accurately these data information,robot plane can load safely.As the performance and reliability of computer vision arithmetic is improved constantly,and self-contained real-time arithmetic is applied broadly,according to these features of robot plane,this paper designs a method of robot plane＇s auto-loading based on monocular vision,achieving the judge of robot plane＇ air＇s orientation and gesture.The experiment proves that this method is reliable and effective.