视觉导航技术在小型无人机撞线回收中的应用

Application of Visual Navigation Technology in Cable-Hock Recovery of Small-Size Unmanned Aerial Vehicle

为了提高小型无人机回收的经济性和有效性,提出一种利用计算机视觉技术实现小型无人机撞线回收的导航系统。分析了撞线回收技术,对现有的目标实时跟踪法进行改进,通过采用基于模块匹配的改进算法实现对无人机目标的在线跟踪,使其能够对尺寸和外形都有较大变化的目标进行有效的在线跟踪,并通过仿真实现。实验结果表明:该跟踪算法跟踪速率可以达到15～25 Hz,能够实时解算其空间位置,准确地跟踪无人机目标,基本满足导航系统的实时性要求。

A navigation system based computer vision technology is adopted to meet efficiency and low cost requirement of small size UAV cable-hock recovery. It analyses the cable-hock recovery technology, and improves the existing real-time target tracking method by the use of improved algorithm based on template matching, so that it can tracking target online with a larger change on the size and shape in the simulation effectively. Experimental results show that： the tracking rate of the algorithm can reach 15 - 25Hz as well as get the real-time space position calculation, and track the UAV target accurately, which can basically meet the real-time requirements of navigation system.