Airborne Vision-Based Navigation Method for UAV Accuracy Landing Using Infrared Lamps

In this paper, an airborne vision-based navigation method for Unmanned Aerial Vehicle (UAV) accuracy landing is presented. In this method, a visible light camera integrated with a Digital Signal Processing (DSP) processor is installed on the UAV and a 940 nm optical filter is fixed in front of the camera lens. In addition, four infrared light-emitting diode (LED) lamps whose emission wavelengths are 940 nm are placed behind ideal landing site on the runway. In this way, the infrared lamps in the image are distinct even if the image background is complicated. In the image processing procedure, firstly maximum between-class variance algorithm and region growing algorithm are used to determine candidate infrared lamp regions in the images. Then Negative Laplacian of Gaussian (NLOG) operator is applied to detect and track centers of the infrared lamps in the images. The space position and attitude of the camera can be obtained according to the corresponding relationship between image coordinates and space coordinates of the infrared lamp centers. Finally, high precision space position of the UAV can be calculated according to the installation relationship between the camera and the UAV. Plenty of real flight and static precision experiments have proved the validity and accuracy of the proposed method.