垂直起降无人机自主视觉着舰方法  

Autonomous Deck Landing of a VTOL UAV Based on Visual Methods

作　　者：林海威 王彪[1] 唐超颖[1] 徐贵力[1] LIN Haiwei;WANG Biao;TANG Chaoying;XU Guili(Nanjing University of Aeronautics and Astronautics,Nanjing 211000,China)

机构地区：[1]南京航空航天大学,南京211000

出　　处：《电光与控制》2023年第4期67-73,共7页Electronics Optics & Control

基　　金：国家自然科学基金(62073161)。

摘　　要：考虑垂直起降无人机着舰问题的特殊性,提出了一种基于机载视觉的自主着舰方案。突破了传统2D光流测速的弊端,利用图像球面光流估计出目标舰船的三维速度矢量。为解决传统位置控制方案对着落轨迹精度控制不足的问题,利用Tau理论实时规划出一条满足着舰软着落约束条件的期望轨迹,最终以无人机三维飞行速度矢量作为控制量设计了轨迹跟踪控制器。基于Unity3D软件开发视景仿真环境,模拟不同海况条件,对所设计系统进行了半实物闭环仿真验证。与传统轨迹规划方案相比,所提方法无需复杂优化迭代计算,能同时满足着舰的实时性和精确性需求。In consideration of the special problem of VTOL UAV deck landing,an autonomous ship landing guidance strategy based on on-board vision is proposed.The deficiency of the traditional 2D optical-flow velocity measurement method is overcome,and the 3D velocity vector of the target ship is estimated by using image spherical optical flow.Then,in order to solve the problem of insufficient control accuracy of landing trajectory of the traditional position control scheme,a guidance law based on Tau theory is employed for generating a desired trajectory that meets the constraints of soft landing in real time.In this phase,a trajectory tracking controller is designed taking the 3D velocity vector of UAV flight as the control quantity.Finally,based on Unity3D software,the visual simulation environment is developed,and semi-real,closed-loop simulation for verification is conducted by simulating different sea wave conditions.Compared with traditional trajectory planning schemes,the proposed scheme does not require complex optimization iterations and can meet both the real-time and accuracy requirements of deck landing.

关 键 词：垂直起降无人机 视觉着舰 球面光流 Tau理论 

分 类 号：V249[航空宇航科学与技术—飞行器设计]