一种基于ArUco标识的无人机降落定位方法  

A UAV Landing Localization Method Based on ArUco Marker

作　　者：王航宇[1] WANG Hang-yu(Xi′an Aeronautical Polytechnic Institute,Xi′an 710000,China)

机构地区：[1]西安航空职业技术学院,陕西西安710000

出　　处：《航空计算技术》2025年第1期7-11,共5页Aeronautical Computing Technique

基　　金：西安航空职业技术学院2023年度科研计划项目资助(23XHZK-01)。

摘　　要：针对由RTK偏差引起的垂起无人机降落位置偏差问题,基于无人机吊舱视频流,提出了一种可实时辅助无人机降落的定位方法。设计了一种可根据着陆场地进行灵活部署,且可快速解算距离与偏差的合作地标;为降低光照不均、局部阴影遮挡等因素对ArUco标识检出与解码的影响,基于ArUco标识图像行列方向的极值的分布特征,设计了一种快速重构的方法;建立了无人机着陆的空间几何模型,并给出了相对位置的解算公式,将由降落位置引起的安全问题,转化为求解其投影是否在着陆安全域内的数学判断问题。实测数据表明,所设计的无人机降落定位方法,对相对位置的解算和自主降落时的安全预警,均具有一定的指导价值。To address the issue of VTOL-UAV landing position deviation caused by RTK deviation,a positioning method that can assist the landing of UAVs in real time is proposed,based on the video stream of UAV pods.Firstly,a cooperative landmark is designed that can be flexibly deployed according to the landing site and can quickly solve the distance and deviation.Secondly,a fast reconstruction method is designed based on the distribution characteristics of the extremes of the ArUco marker to reduce the influence of uneven illumination,local shadow occlusion and other factors on the detection and decoding of the ArUco marker.The row and column directions of the ArUco marker image are also determined.Finally,the spatial geometric model of the drone landing is established,and the relative position is given as a solution.The solution formula for the relative position is also provided,which transforms the safety problem caused by the landing position into a mathematical judgement problem of determining whether its projection is within the landing safety domain.The data collected at the conclusion of this study demonstrate that the UAV landing positioning method devised has the potential to provide valuable guidance in addressing the relative position and safety concerns associated with autonomous landing.

关 键 词：垂起无人机 自主降落 ArUco标识 着陆地标 图像处理 四面体 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249