无人机在运动舰船上着舰视觉导引技术研究

摘要

For the realization of the shipborne Unmanned Aerial Vehicles （UAV） landing to the carrier whose movement is six degrees freedom under all-weather, a method of the UAV vision-guided landing which on the basis of the infrared cooperative objects under ship motion modeling, is proposed. Firstly, a new kind of cooperative objects is designed. Then, the cooperative objects by morphology algorithm are extracted and object-image point is matched according to its location feature. The N-point algorithms are used to get the relative position of UAV and ship. In addition, the simplified model of ship motion is ana- lyzed, and a new method for improving the navigation accuracy based on the model is put forward. Final- ly, the navigation method in the Vega Prime is simulated. The simulation indicates that the presented method can meet the precision demand of UAV landing.%为实现舰载无人机在做六自由度运动的航母上全天候着舰，提出了舰船运动模型下基于红外合作目标的无人机着舰视觉引导方法。首先设计了一种新型的合作目标；采用形态学算法提取合作目标，根据其位置特点进行物像点匹配，并采用N点算法求解机舰相对位姿；分析了舰船运动简化模型，并基于此模型提出了一种利用卡尔曼滤波提高导航精度的新方法，最后在VegaPrime中对该导航方法进行了仿真验证，仿真结果表明，该方法能够满足无人机着舰要求。