基于唯一性编码的直升机着降定位技术  

Helicopter landing positioning technology based on unique coding

作　　者：刘伟[1] 杨延西[1] LIU Wei;YANG Yanxi(Faculty of Automation and Information Engineering,Xi’an University of Technology,Xi’an 710048,China)

机构地区：[1]西安理工大学自动化与信息工程学院,陕西西安710048

出　　处：《西安理工大学学报》2021年第4期544-549,共6页Journal of Xi'an University of Technology

基　　金：国家自然科学青年基金资助项目(61703331);陕西省教育厅基金资助项目(17JK0561)。

摘　　要：基于视觉的相对定位技术已经广泛地应用于无人直升机着降定位,但在着降的最后阶段,尤其对于舰载和车载直升机,由于横风或着降平台的运动影响,使得机载相机容易丢失着降目标,从而导致着降失败。针对该问题,本文提出了一种基于视觉唯一性编码的着降方案,使得无人机在着降的最后阶段,能够在更大范围内高精度实时计算自身与着降标志之间的相对位姿,大幅降低了由于着降目标丢失而导致着降失败的风险。试验表明,机载相机只要能够观测到着降图案的任意5×5个小方格,就能够精确定位,并使最终着降位置误差小于1 cm。Vision based relative positioning technology has been widely used in landing positioning of unmanned helicopter.However,in the final stage of landing,especially for ship borne and vehicle borne helicopters,due to the influence of cross wind or landing platform motion,it is easy for the airborne camera to lose the landing target,leading to the landing failure.In order to solve the problem,this paper proposes a landing algorithm based on visual uniqueness coding,which enables UAV to calculate the relative pose between itself and landing mark in real time,with the high precision in a larger range in the final stage of landing.It greatly reduces the risk of landing failure due to the loss of landing target.Experiments show that as long as the airborne camera can observe any 5 times 5 small squares of the landing pattern,it can accurately locate and make the final landing position error less than 1 cm.

关 键 词：无人直升机 自主着降 视觉定位 唯一性编码 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]