基于场景识别的无人机自主着陆组合导航研究

Research on UAV Autonomous Landing Integrated Navigation Based on Scenes Identification

研究无人机自主着陆阶段的组合导航问题,现有绝大多数是GPS/INS的组合导航,其中状态量的位置信息也都选择了传统的纬度、经度和海拔高度。为了适应着陆场景识别导航,提出了一种基于场景识别/INS的无人机自主着陆组合导航新方法。从机场原点指向飞机的矢量相对机场的俯仰角、方位角及矢量长度作为卡尔曼滤波状态量的位置信息,组合导航中量测信息是从飞机上的摄像机所获得的机场特征点在摄像机所摄图像中的位置(坐标)。通过对方法的分析及仿真,结果验证了方法在无人机自主着陆阶段组合导航中,稳定性和快速性等识别性能较好。

For the problem of UAV autonomous landing,the majority researches are focused on GPS/INS and the position information of kalman filter＇s state is latitude,longitude and altitude too.A new extraction method of Scenes identification /INS-based integrated navigation is proposed.In this method,elevation angle,azimuth angle relative to airport and distance of vector from airport to airplane are used as position information of kalman filter＇s state and the observation information of this system is the coordinate of feature points in the image from camera.The analyse and simulation of this new method prove that the stability and rapidity result of integrated navigation of UAV autonomous landing can be achieved.