基于视觉的无人机着陆半物理仿真系统的应用

摘要

针对无人机视觉着陆相关方法、算法验证困难的问题,提出了一种基于Windows平台下采用图形建模语言、实时扩展技术以及虚拟现实技术,实现基于视觉的无人机着陆半物理仿真验证的方法.利用该方法构建的半物理实时仿真平台能够验证无人机视觉着陆相关方法、算法的正确性、可行性,及时暴露缺陷,为基于视觉的无人机着陆相关方法、算法提供有效验证途径和技术手段,并为今后无人机视觉着陆方法逐步工程化提供必要的技术支撑.%In order to resolve the problem that it is too hard to test and verify all kinds of vision-based unmanned aerial vehicle (UAV) landing algorithms,a new method which is the design and application of the vision-based UAV landing hardware-in-loop (HID simulation system is presented by adopting graphical modeling language,real-time extension (RTX) based on Windows OS and virtual reality (VR) technology.The real-time simulation platform constructed with this method can verify all kinds of vision-based UAV landing algorithms and reveal the bug and defect of these algorithms.It provides an efficacious approach to test and verify vision-based UAV landing algorithms.Meanwhile,the method provides technique supports for the application of vision-based UAV landing algorithms in practice in future.