无人机视觉着陆位姿参数估计方法

摘要

视觉导航方法是无人机自主着陆领域的一种有效的方法.设计了一种由一个圆环和一个三基色圆构成的地标,并基于该地标给出无人机位姿估计的研究方法.该研究方法首先利用图像外部的圆环来确定目标区域,然后根据内部的三基色圆及不同颜色区域的交界线估计飞机与着陆平台的姿态参量和相对位置.在不同高度位置展开实验验证,实验数据表明,该方法能精确解算出无人机与着陆区域的相对位姿参量,达到了无人机在下降过程中实时性的要求.%Visual navigation method is an effective method for the autonomous landing of Unmanned Aerial Vehicle (UAV).This paper designs a landmark that consists of a ring and a circle made up of three primary colours,and a method for estimating the pose and position of UAVs based on the landmark is presented.The method first determines the target area through the detection of the outer ring,and then estimates the position and attitude parameters of the UAV relative to the platform according to the boundary lines of the internal tricolor circle and different color regions.Simulation experiments are conducted to the UAV at different heights.The results clearly show that the method can accurately determine the position and pose parameters of UAV relative to the landing pad,and can meet the requirement of real-time position and pose parameters measurement when UAV is landing.