Multi-sensor fusion UAV dynamic landing system

被引：0
|
作者：
Zhang Z.-H. [1 ]
Sun W. [1 ]
Zhao C.-Y. [1 ]
机构：
[1] School of Aerospace Science and Technology, Xidian University, Xi'an
来源：
Guangxue Jingmi Gongcheng/Optics and Precision Engineering | 2017年 / 25卷
关键词：
Computer vision; Dynamic landing; Multi-sensor fusion; UAV; UWB guided;
D O I：
10.3788/OPE.20172513.0151
中图分类号：
学科分类号：
摘要：
In order to achieve the UAV without GPS guidance and high-precision dynamic landing, a dynamic and autonomous landing system for UAVs with multi-sensor fusion was established.UWB (Ultra Wideband) equipment was used to achieve three-dimensional positioning of UAVs, the landing near the labelwas guided by using position information. Then the visual processing algorithm was designed to quickly and accurately calculate the relative three-dimensional information of the UAV and landing label. Then, after analyzing the dynamic uniform model of the landing tag, Kalman filter was designed to estimate and correct the visual information in the horizontal direction and improve the landing accuracy. Finally, the filtered three-dimensional informations were utilized by the PID controller based on position control to realize the high-precision dynamic autonomous landing control of UAV.The experimental results show that the unmanned aerial machine can be guided to near the landing label and the landing accuracy within 5 cm.UAV in the absence of GPS signal guidance problem is resolved basically, the requirements of high precision dynamic and automatic landing is met. © 2017, Science Press. All right reserved.
引用
收藏
页码：151 / 159
页数：8
相关论文
共 12 条
  • [1] Sarris Z., Survey of UAV applications in civilmarkets, IEEE Mediterranean Conference on Control and Automation, 34, 6, pp. 283-288, (2012)
  • [2] Li J.P., Jiang T., Xiao D., Et al., On diagram-based three-dimensional reconstruction of UAV image, Opt. Precision Eng., 24, 6, pp. 1501-1509, (2016)
  • [3] Xu D.F., Bai Y., Gong X., Et al., Correction of 3-axis magnetic compass in multi-rotor UAV under variable control amounts, Opt. Precision Eng., 24, 8, pp. 1940-1947, (2016)
  • [4] Voos H., Bou-Ammar H., Nonlinear trackingand landing controller for quadrotor aerialrobots, 2010 IEEE International Conferenceon Control Applications, 58, 8, pp. 2136-2141, (2010)
  • [5] Ghommam J., Saad M., Autonomous Landing of a Quadrotor on a Moving Platform, IEEE Transactions on Aerospace &Electronic Systems, PP, 99, (2017)
  • [6] Wang C., Li W., Chen W., Et al., Autonomous landing control of quadrotor UAVs, IEEE International Conference on Cyber Technology in Automation, pp. 276-280, (2015)
  • [7] Gautam A., Sujit P.B., Saripalli S., A survey of autonomous landing techniques for uavs, 2015 IEEEInternational Conference on Unmanned Aircraft System, pp. 1210-1218, (2015)
  • [8] Jin S., Zhang J., Shen L., Et al., On-board vision autonomous landing techniques for quadrotor: A survey, Chinese Control Conference, pp. 10284-10289, (2016)
  • [9] Deng P., Liu L., Fan P.Z., A hybrid TDOA/AOA location algorithm andits performance analysis, The Chinese Journal of Radio Science, 17, 6, pp. 633-636, (2002)
  • [10] Zhang B.F., Liu T.P., Han Y., 3-Dimension location algorithm research based on TOA, Computer Engineering and Design, 14, pp. 3364-3366, (2007)
12