【摘要】 为提高无人机着陆阶段导航信息的自主性,研究了一种基于对应线标定的单目视觉位姿测量方法,以独立确定固定翼无人机在着陆时的姿态和相对着陆点的位置。首先,建立了机载摄像机的运动和投影模型;然后,利用着陆场上任意3条已知自然直线特征,依据对应线标定法建立关于无人机姿态和相对位置的约束方程,以进行无人机姿态和相对位置的解算;最后,进行了地面静态模拟实验,实验结果表明:姿态角误差控制在3°内,位置误差控制在3%内,可以满足某型无人机着陆阶段对导航信息的要求,并且,该方法充分利用了着陆场自然直线特征,贴近实战需要。更多还原

【Abstract】 In order to improve the independence of the navigation information for unmanned aerial vehicle(UAV) landing,a novel monocular navigation method based on the calibration of corresponding lines is proposed,and it is used to determine the orientation and position relative to landing target for landing of UAV independently.Firstly,the motion and projection models of camera on-board of UAV are established.And then based on the calibration of the corresponding lines,constraint equations of orientation & position of UAV are established using three random natural lines on the land.Finally,simulation experiment is given to show the effectiveness of this method and test results show it is accurate to within 3 % in each axis of translation and 3° in each axis of rotation,and this method makes the best of natural characters so that it is more practicable than those that the special man-made landing targets are needed.更多还原