【作者】 刘中杰； 曹云峰； 王西超；

【Author】 LIU Zhong-jie1,CAO Yun-feng1,2,WANG Xi-chao1(1.College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;2.Academy of Frontier Science,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

【机构】 南京航空航天大学自动化学院； 南京航空航天大学高新技术研究院；

【摘要】 为了提高无人作战飞机着陆的自主性和安全性,提出了一套基于视觉的无人作战飞机辅助着陆系统方案,仅依靠视觉传感器数据,基于空时处理估计UCAV的俯仰角、滚转角、偏航角和高度参数,构建单目立体视觉导航系统采集视频数据。该系统方案由机载硬件平台和软件算法组成,利用视觉硬件平台结合以Hough变换为基础的跑道边缘线和地平线检测方法,能够精确地获取无人机在着陆过程中的部分飞行位姿参数。该方案可以通过半物理仿真实验平台加以验证其精确性和有效性。更多还原

【Abstract】 In order to improve autonomy and security of Unmanned Aerial Combat Vehicle,an assisted landing system project was presented for UCAV which integrates onboard hardware and relative software arithmetic.The approach estimated the pitch attitude,roll attitude,yaw attitude and altitude of UCAV sole dependence on the data from visual sensors by spatial-temporal processing.A stereo visual navigation system was built to record the video data.The key of this project is runway edges and horizon line detection methods based on Hough transformation.The precise flight control parameters can be calculated by this method and assisted landing system.The validity and accuracy of this algorithm can be testified by a semi-physics platform.更多还原