微小型四旋翼无人机自主着陆视觉系统研究

Vision System for Autonomous Landing of a Micro four rotor UAV

以实现微小型四旋翼无人机依靠视觉信息完成自主着陆为目的,采用TI公司DM3730芯片作为核心处理器,构建一套自主着陆视觉导引信息处理系统;充分考虑了视觉系统的特点,选用小巧、便携、合理的实验硬件,通过对图像的前期处理,采用相对简单的视觉处理算法,识别出着陆标识,通过解算得到着陆信息并完成飞行器的自主着陆过程;实验结果表明,系统较为可靠,在常规条件下,该系统能够有效识别人工着陆标识,准确解算出着陆标识与飞行器的相对位置信息用于自主着陆导引。

In order to complete micro four rotor UAVs autonomous larlding based on visual informa-tion for the purpose of, a vision--based guidance system is developed, which takes advantage of the DM3730 dual--core processor produced by TI company. Consider the char- acteristics of the visual system, we select portable and reasonable hardwares, through the pre--processing on the image, using a relatively simple visual processing algorithm, identify the landing mark and calculate the information to complete aircraft autonomous landing. The ex- perimental results show that system is reliable, under normal conditions, the system can effectively identify manual landing mark, calculate the relative position information of landing mark and aircraft for autonomous landing guidance.