固定翼无人机着陆姿态角测量算法研究  

Study on landing attitude angle measurement algorithm of fixed wing unmanned aerial vehicle

作　　者：齐乐 袁宝玺 郭凤娟 郭建新 徐悦 米辰 QI Le;YUAN Baoxi;GUO Fengjuan;GUO Jianxin;XU Yue;MI Chen(School of Information Engineering,Xijing University,Xi’an 710123,China;Shaanxi Key Laboratory of Integrated and Intelligent Navigation,Xi’an 710071,China)

机构地区：[1]西京学院信息工程学院,西安710123 [2]陕西省组合与智能导航重点实验室,西安710071

出　　处：《导航定位学报》2022年第4期56-64,共9页Journal of Navigation and Positioning

基　　金：陕西省重点研发计划工业领域一般项目(2021GY-341)。

摘　　要：针对固定翼无人机自主着陆过程中姿态角测量不精确的问题,提出了一种新的基于单目视觉的姿态角测量方法。并且针对现实环境中拍摄的合作目标图像存在的光照不均、反光和模糊等情况,提出了纹理增强和检测效率优化算法,消除了图像退化对检测结果的影响,从而实现了对光照退化具有鲁棒性的检测方案。实验结果表明,姿态角测量误差为0.39°,每秒检测帧数达到了83.33帧,能够同时满足无人机着陆误差与实时性的要求。According to the fact that there is no enough algorithm of attitude angle measurement during autonomous landing of fixed wing Unmanned Aerial Vehicle(UAV),a new attitude angle measurement method based on monocular vision is proposed.In view of the illumination imbalance,reflection and blur of cooperative target images taken in the real environment,texture enhancement and detection efficiency optimization algorithm are proposed to eliminate the influence of image degradation on detection results,so as to realize the detection scheme with robustness to illumination degradation.Experimental results show that the mean of attitude angle error is 0.39,and the number of detection frames per second reached 83.33,which can meet the requirements of UAV landing error and real time simultaneously.

关 键 词：固定翼无人机 视觉导航 合作目标检测 姿态角测量 

分 类 号：P228[天文地球—大地测量学与测量工程]