基于视觉引导的无人机自动着陆控制方法

Visual Guided Automatic Landing Control Method for Unmanned Aerial Vehicles

由于无人机定位导航精度低,导致传统无人机自动着陆控制方法存在控制效果不佳的问题,为此提出基于视觉引导的无人机自动着陆控制方法。分别从无人机运动和飞行环境两个方面,构建数学模型,在该模型下,利用视觉引导技术通过实时图像采集、处理、目标检测、距离测量等步骤,规划自动着陆轨迹。设计并安装无人机自主着陆控制器,进而实现无人机的自动着陆控制。实验结果表明,应用设计方法能够沿着规划路线实现精准着陆,控制误差较小,由此证明设计方法的控制效果良好。

Due to the low positioning and navigation accuracy of UAV,the traditional UAV automatic landing control method has the prob-lem of poor control effect.Therefore,a UAV automatic landing control method based on visual guidance is proposed.The mathe-matical model is constructed from the two aspects of UAV motion and flight environment.Under this model,the automatic land-ing trajectory is planned by using visual guidance technology through the steps of real-time image acquisition,processing,target detection and distance measurement.The autonomous landing controller of UAV is designed and installed to realize the automatic landing control of UAV.The experimental results show that the design method can achieve accurate landing along the planned route with less control error,which proves that the control effect of the design method is good.