Image-guided position and height estimation for unmanned helicopter

摘要

Helicopter is a nimble vehicle with flight property. It can take off or land vertically, move in any direction and hover. Because of the innate instability and highly nonlinear property, designing autonomous flight control system of helicopter is of much difficulty. The main consideration in helicopter flying control is to hover and to land. In this paper, we consider the case that a CCD is hanged on helicopter as an auxiliary sensor. The CCD can get the image of H-type hardstand on the ground and calculate the horizontal shift error and height of helicopter by PC. It can apply to observe the river, disaster area, science and military detection. In order to get the information about aerial photography and observation, we add the function of taking picture and video recording.