无人飞行器自主着陆组合导航系统关键技术研究

Key Technology of Unmanned Aerial Vehicle Integration Navigation for Autonomous Landing Flight

自主着陆是无人机导航控制中的关键技术,通过分析惯性导航和卫星导航的特点,提出了一种基于视觉技术的无人机自主着陆方案,该方案基于视觉伺服的SINS/GNSS和地磁的组合导航技术以及人工地标技术,同时增加高度计装置,可实现无人机在复杂环境系的自主着陆,提高了无人机导航系统的自主性和安全性。最后对该技术的应用前景进行了探讨,为技术的应用提供了未来可预期的实用案例。

Autonomous landing is the key technology of Unmanned Aerial Vehicle Navigation （UAV）. Due to its＇ two advantages of high precision and immunity to electronic interferences, computer vision based on navigation for UAV has more advantages than the traditional SINS and GNSS. A method of integration navigation is presented based on computer vision/SINS/GNSS/ Magnetometer/Altimeter. The UAV can autonomously locate and recognize a cooperative object with the vision based navigation. At last, the application prospect is conducted and a practical case is proposed to show the realizable growing trend for the vision based navigation method.