利用地平线与跑道边缘线估计无人机着陆参数  

Landing parameters estimation of unmanned aerial vehicle based on horizon and edges of runway

作　　者：庄丽葵[1] 丁萌[1] 曹云峰[1] 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016

出　　处：《传感器与微系统》2010年第3期104-108,共5页Transducer and Microsystem Technologies

基　　金：装备预研基金资助项目

摘　　要：研究了一种基于机器视觉的无人机着陆参数计算方法,通过利用图像处理得到的地平线、跑道两条边缘线在图像像素坐标系下的直线方程,可以获得无人机着陆过程中的5个飞行参数:高度、侧偏距、滚转角、俯仰角、偏航角。介绍了视觉测量的一般理论;给出了飞行姿态角测量方法;提出了无人机高度和与机场跑道中线的距离的计算方法。利用实拍的一段无人机着陆视频验证了提出的方法,实验研究表明:该方法可以有效地获得5个飞行参数,为无人机自主着陆提供着陆参数。An algorithm to obtain landing parameters of Unmanned Aerial Vehicle is studied. Five landing parameters including height, side slip distance, roll, pitch and yaw angles can be computed by equations of horizon and edges of runway by image-processing. Basic theory of vision-based measure is introduced. The methods of flight attitude angles estimation were demonstrated in detail. The algorithm of flight height and distance between UAV and midline of runway were presented. The algorithm was verified by landing video of UAV. Experiment showed that this method can obtain five landing parameters effectively and provide landing parameter for UAV.

关 键 词：机器视觉 无人机 着陆参数 地平线 跑道边缘线 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]