基于复合标志的四旋翼无人机自主降落系统  

Autonomous landing system of quadrotor UAV based on composite marker

作　　者：袁泽慧[1] 陈国栋[2] 张亚[1] 王忠言 YUAN Zehui;CHEN Guodong;ZHANG Ya;WANG Zhongyan(College of Mechatronics,North University of China,Taiyuan 030051,China;Jiangsu Key Laboratory of Robtoics Technologies and Intelligent Manufacturing Equipment(Soochow University),Suzhou 215021,China)

机构地区：[1]中北大学机电工程学院,山西太原030051 [2]江苏省机器人技术及智能制造装备工程实验室(苏州大学),江苏苏州215021

出　　处：《传感器与微系统》2024年第3期103-107,共5页Transducer and Microsystem Technologies

基　　金：山西省回国留学人员科研资助项目(2020-108);江苏省机器人技术及智能制造装备工程实验室(苏州大学)开放基金资助项目;山西省基础研究计划资助项目(202303021212190)。

摘　　要：四旋翼无人机能否快速、精确地降落在地面充电装置或回收装置上是实现空地机器人协同的关键步骤之一。提出了一种基于视觉的四旋翼无人机在静止平台上自主降落的模型化框架,设计了基于AprilTag的复合标签着陆标志,将视觉测量与无人机自驾仪提供的状态信息利用卡尔曼滤波器进行融合,提高无人机位姿估计精度。利用PID控制器计算无人机的期望加速度,并将其转化为无人机的姿态指令,使得无人机飞行到期望位置。在专用模拟器下,对提出的无人机自主降落系统进行了多次仿真,仿真结果表明,无人机的平均降落误差小于5cm,验证了无人机自主降落系统的有效性和精确性。Quickly and accurately landing on the ground recharging station or recovery device is the most critical phase for a quadrotor UAV to achieve air-ground robots cooperation.A vision-based modelling framework for autonomous landing of quadrotor UAV on stationary platform is proposed.Composite lable landing marker based on AprilTag is designed.The vision measurement and state information from the UAV flightautonomy system are fused by Kalman filter to improve the pose estimation precision of UAV.The desired acceleration of UAV is calculated by PID controller,then converted to attitude command of the UAV,making it fly to the desired position.Multiple simulation are carried on autonomous landing system of proposed UAV under dedicated simulator,and the simulation results show that the mean landing error of UAV is less than 5 cm,the effectiveness and accuracy of UAV autonomous landing system are verified.

关 键 词：四旋翼无人机 自主降落 低成本单目摄像头 卡尔曼滤波器 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]