一种基于单幅跑道图像的无人机降落位姿测量新方法  

Landing Position and Attitude Measurement of UAV Using Runway Image

作　　者：张小苗[1] 尚洋[1] 雷志辉[1] 于起峰[1] 

机构地区：[1]国防科技大学航天与材料工程学院,湖南长沙410073

出　　处：《国防科技大学学报》2008年第1期19-24,共6页Journal of National University of Defense Technology

摘　　要：提出了一种在无人机降落并接近跑道的过程中,在已知跑道宽度的前提下,基于单幅跑道图像测量其位姿参数的新方法。通过分析跑道消影点与无人机位姿的关系,得到消影点的图像坐标与姿态角的关系。依据摄像机共线方程,推导出了无人机位姿与跑道的世界坐标方程系数及像直线方程系数的关系。通过合理假设,对位姿参数进行了简化,求解出无人机降落过程中的位姿状态。仿真实验结果证明,方法易于实现,可满足无人机自主降落导航的应用需求。A new method of landing position and attitude measurement of UAV using only one runway image, which is proved applicable to such circumstance as UAV approaching to the ground while the runway width is known, is proposed in this paper. Firstly, the relation between the attitude and the vanishing point of runway was analyzed. Then, the collinearity equation was transformed by the runway line and the image line equations coefficients. Furthermore, the position along runway and the bank angle was simplified on the basis of the reasonable assumption. In so doing, the landing position and attitude of UAV was calculated by previous relations. Simulate experiment results show that the new way is easy to realize and can satisfy the application requirement of autonomous landing.

关 键 词：无人机 跑道 消影点 共线方程 自主降落 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TG659[自动化与计算机技术—计算机科学与技术]