摘要
针对系留无人机在导航卫星拒止条件下无法定位的问题,设计一种基于合作目标的视觉定位系统。通过构建视觉定位系统,设计靶标检测算法、靶标偏移量计算算法及数据平滑算法,实现系留无人机的无源定位。试验结果表明:无人机在飞行及起降过程中,精确检测地面靶标并解算相对位置,可有效解决无卫星信号的定位问题。
Aiming at the problem that tethered unmanned aerial vehicle(UAV)can not be located under the condition of navigation satellite denial,a vision positioning system based on cooperative target is designed.By constructing the vision positioning system,the target detection algorithm,the target offset calculation algorithm and the data smoothing algorithm are designed to realize the passive positioning of the tethered UAV.The test results show that the UAV can accurately detect the ground target and calculate the relative position in the process of flight,take-off and landing,which can effectively solve the positioning problem without satellite signals.
作者
王世勇
刘满
倪蜂棋
安帅
Wang Shiyong;Liu Man;Ni Fengqi;An Shuai(Departmetn of UAV,Automation Research Institute Co.,Ltd.of China South Industries Group Corporation,Mianyang 621000,China)
出处
《兵工自动化》
2022年第11期77-83,共7页
Ordnance Industry Automation
关键词
系留无人机
视觉定位
卫星拒止
tethered UAV
vision positioning
satellite denial
