Simulation on Vision Based Landing a UAV on a Ship

摘要

Motivated by the desire to actively and economically advance the challenging researches of vision-guide algorithm for VTOL UAV (Unmanned Aerial Vehicle with Vertical Take Off and Landing capability) , simulation technique appealing to the principles of perspective projection was employed. Based on the pinhole camera model, an algorithm relying on image processing techniques to find the camera on-board extrinsic parameters, i.e., the 3D relative position between UAV and the landing target whose motion is modeled as sinusoidal functions of time, of known frequency, amplitude and phase is described. The simulation software for generating scene images whether the camera on-board in static or in dynamic status was developed by C++ and windows operating system, it could provide simulation data with sub-pixel accuracy also. We conclude this paper by presenting some typical simulation results which include images, data and software interfaces.