基于视觉着陆的无人机俯仰角与高度估计

被引：12

作者：

潘翔

马德强

吴贻军

张光富

姜哲圣

机构：

[1] 浙江大学信息与通信工程研究所

来源：

浙江大学学报(工学版) | 2009年 / 43卷 / 04期

关键词：

俯仰角; 高度估计; 计算机视觉; 自主着陆; 无人机;

D O I：

暂无

中图分类号：

V279 [无人驾驶飞机];

学科分类号：

1111 ;

摘要：

为提高无人机(UAV)自主着陆的能力,提出了一种新方法,仅依靠视觉传感器数据,基于空时处理估计UAV的俯仰角和高度参数.构建双目立体视觉导航系统采集视频数据.利用Hough变换和RANSAC方法从单目图像序列中计算灭点;再利用灭点几何模型计算无人机着陆的俯仰角.基于双目图像序列,提取Harris角点进行特征点匹配,获取无人机的深度信息.联合无人机的俯仰角与深度信息,基于三维重建方法获得无人机的高度参数.根据UAV的运动规律,采用自适应卡尔曼滤波进一步提高UAV高度估计的精度.模拟实验结果表明,所提出的方法可以有效地估计UAV着陆的俯仰角和相对跑道的高度参数,而且算法具有较快的收敛速度.

引用

页码：692 / 696

页数：5

共 10 条

[1]

Autonomous vision-based landing and terrain mappingusing an MPC-controlled unmanned rotorcraft. TEMPLETON T,SHIM D H,GEYER C,et al. Proceedings of 2007 IEEE International Conference onRobotics and Automation . 2007

[2]

Vision-based road fol-lowing using a small autonomous aircraft. FREW E,MCGEE G T,KIM Z. Proceed-ings of 2004 IEEE Aerospace Conference . 2004

[3]

Obstacledetection for small autonomous aircraft using sky seg-mentation. MCGEE G T,SENGUPTA R,HDRICK K. Proceedings of 2005 IEEE InternationalConference on Robotics and Automation . 2005

[4]

Adaptive Filtering with Unknown Prior Statistics, In: Proceedings of Joint Automatic Control Conference. Sage A P,Husa G W. . 1969

[5]

Towards vision-basedsafe landing for an autonomous helicopter. Pedro J Garcia-Padro,Montgomery J F,et al. Robotics and Autono-mous Systerms . 2002

[6]

Visually-guided landing of an unmanned aerial vehicle. Saripalli,S.,Montgomery,J.,Sukhatme,G. IEEE Transactions on Robotics and Automation . 2003

[7]

Vision-Aided Inertial Navigation for Flight Control. Allen D.Wu,,Eric N. Johnson,,Alison A. Proctor. Journal of Aerospace Computing, Information, and Communication . 2005

[8]

Aircraftapproach angle estimation:vision based landing. TUNG D,SUTER D,BAB-HADIASHAR A. http:∥www.ds.eng.monash.edu.au/techrep/reports/2003/MECSE-28-2003.pdf . 2007

[9]

Avision based forced landing site selection system for anautonomous UAV. FITZGERALD D,WALKER R,CAMPBELL D. IEEE International Conferenceon Intelligent Sensors,Sensor Networks and InformationProcessing . 2005

[10]

Com-bined optic-flow and stereo-based navigation of urbancanyons for a UAV. HARBAR S E,SUKHAME G S,CORKER P. IEEE International Conferenceon Intelligent Robots and Systems . 2005

← 1 →