摘要
对提出的基于机器视觉辅助的无人驾驶飞机自动着陆的导航方法进行了误差分析。系统传感器是安装在光电跟踪平台上的双目摄像机,用以得到无人驾驶飞机的位置信息。图像处理部分主要使用了图像的模版匹配、轮廓提取、角点检测等处理方法,从图像中获得特征区域的中心,利用解析几何的知识求解出无人机进场着陆段的位置参数。通过仿真试验,对文中所提出的图像处理方法的引导精度进行了误差分析,证明了算法的可行性。
An analyzing of orientation error for a computer vision assisted integrated navigation scheme for an autonomous landing maneuver of unmanned aerial vehicle(UAV) is presented.The system utilizes the binocular on-board camera fixed on optoelectronic tracking platform as the sensor to obtain the plan position information.The image processing of landing system uses the algorithms such as template-matching,contour-extraction and feature-point-detection.The center of the mark is obtained through these algorithms.An algorithm is offered to obtain flight position information based on the knowledge of analytic geometry.Computer simulation results indicated that the navigation scheme could run properly for autonomous landing of the UAV.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2008年第S1期495-498,共4页
Journal of System Simulation
基金
无人机"十一五"预研项目
关键词
无人机
机器视觉
光电跟踪平台
双目摄像机
自动着陆
UAV
machine vision
optoelectronic tracking platform
binocular on-board camera
automatic landing
