摘要
随着垂直起降无人机的应用热潮,学者们对基于合作目标的视觉着陆方式做了大量研究.针对现有平面合作目标对无人机着陆的局限性,从抗遮挡鲁棒性以及减少其它传感器辅助两个角度,设计了一种新型的三维立体合作目标与定位算法.基于合作目标空间特征,结合多边形的遮挡特性以及自然界的色彩信息,采用归纳法设计出三维合作目标;同时,利用合作目标的几何成像特点,提出仅基于视觉信息的用于着陆导引的位置解算算法;鉴于相机成像的变比例特性,推导出特征提取投影偏差与位置解算精度的关系,并深入分析了对后者的影响.基于Simulink平台搭建相机成像仿真系统,验证了合作目标具有极高的抗遮挡鲁棒性和位置解算精度,并且在多数位置下,偏差估计误差在0.01 m以内,并且不考虑投影偏差的影响下位置解算误差不超过0.1 m,符合设计以及实际应用需求.
As the application boom of vertical take-off and landing unmanned aerial vehicles(VTOL UAVs)is becoming more and more complex,and a lot of scholars have done a lot of research on the way of visual landing based on cooperative targets.Aiming at the limitation of the existing plane cooperative targets to the landing of UAV,this paper designed a three-dimension cooperative target,which was discussed from two aspects:Anti occlusion robustness and reduction of other auxiliary sensors.Basing on the spatial features of the cooperative targets,combining the occlusion characteristics of the polygon and the color information of the nature,this paper designed a three-dimensional cooperative target by induction.At the same time,with the geometric relationship of the cooperative target in the imaging,a position algorithm was proposed based on visual information only.In view of the variable proportion characteristics of camera imaging,the relationship between the projection error of feature extraction and the accuracy of position calculation was deduced,and the influence on the latter was analyzed in depth.The experimental part set up camera imaging simulation system based on Simulink platform,verified the cooperative target anti blocking robustness and the position calculation algorithm.It shows that the error of estimation error is within 0.01 m,and the error of position calculation does not exceed 0.1 m without considering the influence of projection error in most locations.It meets the needs of practical applications.
作者
魏祥灰
唐超颖
王彪
徐贵力
WEI Xianghui;TANG Chaoying;WANG Biao;XU Guili(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)
出处
《系统工程理论与实践》
EI
CSSCI
CSCD
北大核心
2019年第11期2975-2983,共9页
Systems Engineering-Theory & Practice
基金
南京航空航天大学研究生创新基地(实验室)开放基金(kfjj20170302)
中央高校基本科研业务费专项资金~~
关键词
垂直起降无人机
自主着陆导引
抗遮挡鲁棒性
三维合作目标
vertical take-off and landing unmanned aerial vehicles(VTOL UAVs)
autonomous landing guidance
anti-occlusion robustness
three-dimensional cooperative target
