无人机自主着舰技术研究  

Research on autonomous landing technology of UAV

作　　者：刘丰[1,2] 于洋 郭璇 毕卫红[1,2] 高佳玥 LIU Feng;YU Yang;GUO Xuan;BI Weihong;GAO Jiayue(School of Information Science and Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China;Key Lab of Special Fiber and Fiber Sensing of Hebei Province,Qinhuangdao,Hebei 066004,China)

机构地区：[1]燕山大学信息科学与工程学院,河北秦皇岛066004 [2]河北省特种光纤与光纤传感重点实验室,河北秦皇岛066004

出　　处：《燕山大学学报》2022年第4期353-361,共9页Journal of Yanshan University

基　　金：国家重点研发计划资助项目(2019YFC1407904)。

摘　　要：无人机与无人艇协同工作是进行海洋生态灾害面积调查最为先进的技术之一。为了实现无人机能够自主降落在无人艇,以灵活适应生态灾害调查的实际工况需求,提出了一种基于机器视觉与降落平面姿态主动反馈相结合的无人机自主降落方案。利用机载摄像头获得无人艇及周围环境信息,对捕获到的图像使用双边滤波法进行噪声去除以及图像增强等处理。在OpenCV环境下通过霍夫变换识别出为降落而设计的独特降落标志,使无人机运动到无人艇的正上方。同时,设计了一套用于无人机在动态平面上降落的检测装置,实现无人机在无人艇上自主可靠降落。研究结果表明:采用上述方案,在降落平面与水平面的夹角以6°为阈值的情况下,能够使无人机在动态平面上的降落成功率得到约30%的提升。The cooperative work of UAV and USV is one of the most advanced technologies for marine ecological disaster area investigation.In order to realize the autonomous landing of UAV on USV and flexibly adapt to the actual working conditions of ecological disaster investigation,an autonomous UAV landing scheme based on the combination of machine vision and inertial navigation is proposed.The airborne camera is used to obtain the information of USV and the surrounding environment,and the captured images are processed using bilateral filtering for noise removal and image enhancement.The mark designed for landing is identified by Hough transform in OpenCV,and the UAV can move directly above the USV.At the same time,a set of detection device for UAV landing on the dynamic plane is designed to realize the autonomous and reliable landing of UAV on USV.The results show that the use of the above-mentioned scheme can result in a nearly 30%improvement in the success rate of UAV landing on dynamic planes when the angle between the landing plane and the horizontal plane is 6°.

关 键 词：无人机 自主降落 机器视觉 PD控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]