基于多传感器融合的无人机应急着陆功能研究

Research on UAV Emergency Landing Function Based on Multi-Sensor Fusion

无人机作为一种新型飞行器,在城市空中交通领域得到了飞速的突破和发展。电动垂直起降(eVTOL)无人机因具有低碳环保、运行成本低等优势成为当下研究的热点。为了保证飞行器的运行安全性和可靠性,本文针对无人机在应急特殊情况下的着陆功能进行研究,针对不同飞行高度场景并结合传感器性能要求对可着陆区域进行识别筛选,基于相机与激光雷达多传感器数据融合,提出了一种无人机在城市未知环境中的应急着陆方法,同时进行城市应用场景仿真环境的测试,初步实现无人机在城市未知场景下获取着陆位置,为保证无人机在未知场景下的着陆安全性提供方向。

As a new type of aircraft,UAV has made a rapid breakthrough and development in the field of urban air traffic.Among them,the electric vertical take-off and landing(eVTOL)UAV has become a research hotspot because of its advantages of low carbon,environmental protection and low operating cost.In order to ensure the operation safety and reliability requirements of aircraft,this paper studies the landing function of UAV in special emergency situations,identifies and screens the landing area for different flight altitude scenarios and in combination with the sensor performance requirements,and proposes an emergency landing method for UAV in unknown urban environment based on multi-sensor data fusion of camera and lidar.At the same time,the test of urban application scenario simulation environment is carried out to preliminarily realize the UAV to obtain the landing position in the urban unknown scenario,providing direction for ensuring the landing safety of UAV in the unknown scenario.