基于复合标志的四旋翼无人机自主降落系统

Autonomous landing system of quadrotor UAV based on composite marker

四旋翼无人机能否快速、精确地降落在地面充电装置或回收装置上是实现空地机器人协同的关键步骤之一。提出了一种基于视觉的四旋翼无人机在静止平台上自主降落的模型化框架,设计了基于AprilTag的复合标签着陆标志,将视觉测量与无人机自驾仪提供的状态信息利用卡尔曼滤波器进行融合,提高无人机位姿估计精度。利用PID控制器计算无人机的期望加速度,并将其转化为无人机的姿态指令,使得无人机飞行到期望位置。在专用模拟器下,对提出的无人机自主降落系统进行了多次仿真,仿真结果表明,无人机的平均降落误差小于5cm,验证了无人机自主降落系统的有效性和精确性。

Quickly and accurately landing on the ground recharging station or recovery device is the most critical phase for a quadrotor UAV to achieve air-ground robots cooperation.A vision-based modelling framework for autonomous landing of quadrotor UAV on stationary platform is proposed.Composite lable landing marker based on AprilTag is designed.The vision measurement and state information from the UAV flightautonomy system are fused by Kalman filter to improve the pose estimation precision of UAV.The desired acceleration of UAV is calculated by PID controller,then converted to attitude command of the UAV,making it fly to the desired position.Multiple simulation are carried on autonomous landing system of proposed UAV under dedicated simulator,and the simulation results show that the mean landing error of UAV is less than 5 cm,the effectiveness and accuracy of UAV autonomous landing system are verified.