摘要
固定翼无人机自动着陆需要跟踪速度快、精度高的引导系统,本文设计并搭建了一套基于红外视觉的无人机自动着陆引导系统。文中首先介绍了视觉着陆引导系统的原理、组成,并分析其数学模型;在无人机上设计了红外视觉识别标志,设计并编写了引导系统图像处理算法和视觉跟踪算法;设计视觉着陆引导控制结构;最后,通过试飞实验对该系统的可靠性、跟踪速度和精度进行验证。实验结果表明本文设计的自动着陆引导系统能够很好地满足固定翼无人机精确自动着陆的要求。
Fixed wing UAV autonomous landing guidance system needs high precision,fast tracking speed.This paper designed and built a set of infrared vision based UAV automatic landing guidance systems.Firstly the visual landing guidance system principle,composition,and analysis of the mathematical model is introduced;And the visual identification logo,the guidance system image processing algorithm and the visual tracking algorithm,visual landing guidance control structure has been desingned.Finally,the reliability,tracking speed and precision of the system were verified by field experiments.The experimental results showed that the designed landing guidance system could meet the requirements of the precise autonomous landing of a fixed wing UAV.
出处
《电子测量技术》
2016年第3期131-135,共5页
Electronic Measurement Technology
基金
南京航空航天大学研究生创新基地(实验室)开放基金资助(kfjj201423)
中央高校基本科研业务费专项资金资助
关键词
固定翼无人机
红外视觉
自动着陆
引导系统
fixed wing UAV
infrared vision
autonomous landing
guidance system
