Multi-sensor fusion UAV dynamic landing system

ZHANG Zhen-hao; SUN Wei; ZHAO Chun-yu

doi:10.3788/OPE.20172513.0151

您当前的位置：

首页 >

文章列表页 >

Multi-sensor fusion UAV dynamic landing system

更新时间：2020-08-13

- Multi-sensor fusion UAV dynamic landing system
- Optics and Precision Engineering Vol. 25, Issue 10s, Pages: 151-159(2017)
- 作者机构：
  
  西安电子科技大学空间科学与技术学院,陕西西安,710118
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20172513.0151
  CLC： TP394.41;V279
- Received：01 June 2017，
  
  Revised：22 June 2017，
  
  Published：25 November 2017
- 稿件说明：
移动端阅览
张桢浩, 孙伟, 赵春宇. 多传感器融合的无人机动态自主着陆系统[J]. 光学精密工程, 2017,25(10s): 151-159

ZHANG Zhen-hao, SUN Wei, ZHAO Chun-yu. Multi-sensor fusion UAV dynamic landing system[J]. Editorial Office of Optics and Precision Engineering, 2017,25(10s): 151-159
张桢浩, 孙伟, 赵春宇. 多传感器融合的无人机动态自主着陆系统[J]. 光学精密工程, 2017,25(10s): 151-159 DOI： 10.3788/OPE.20172513.0151.

ZHANG Zhen-hao, SUN Wei, ZHAO Chun-yu. Multi-sensor fusion UAV dynamic landing system[J]. Editorial Office of Optics and Precision Engineering, 2017,25(10s): 151-159 DOI： 10.3788/OPE.20172513.0151.

摘要

为了实现无人机在无GPS信号下的引导和高精度动态自主着陆，提出了一种多传感器融合的无人机动态自主着陆系统。首先该系统使用超宽带（Ultra Wideband，UWB）设备对无人机三维定位，利用定位信息将其引导至着陆标签附近；接着利用视觉处理算法快速精确解算出无人机和着陆标签的相对三维信息；然后分析了着陆标签的动态匀速模型后，利用卡尔曼滤波预估和矫正水平方向上的视觉信息，提升着陆精度，最后基于位置控制的PID控制器利用滤波后的相对三维信息，实现无人机的高精度动态自主着陆控制。实验结果表明：无人机能被准确引导至着陆标签附近，着陆精度在5 cm之内。基本解决了无人机在无GPS信号下的引导问题，满足动态自主着陆的高精度要求。

Abstract

In order to achieve the UAV without GPS guidance and high-precision dynamic landing

a dynamic and autonomous landing system for UAVs with multi-sensor fusion was established.UWB (Ultra Wideband) equipment was used to achieve three-dimensional positioning of UAVs

the landing near the labelwas guided by using position information. Then the visual processing algorithm was designed to quickly and accurately calculate the relative three-dimensional information of the UAV and landing label. Then

after analyzing the dynamic uniform model of the landing tag

Kalman filter was designed to estimate and correct the visual information in the horizontal direction and improve the landing accuracy. Finally

the filtered three-dimensional informations were utilized by the PID controller based on position control to realize the high-precision dynamic autonomous landing control of UAV.The experimental results show that the unmanned aerial machine can be guided to near the landing label and the landing accuracy within 5 cm.UAV in the absence of GPS signal guidance problem is resolved basically

the requirements of high precision dynamic and automatic landing is met.

关键词

Keywords

references

SARRIS Z. Survey of UAV applications in civilmarkets[C]. IEEE Mediterranean Conference onControl and Automation, 2012:283-288.

李劲澎, 姜挺, 肖达, 等. 基于关系图的无人机影像三维重建[J]. 光学精密工程,2016, 24(6):1501-1509. LI J P, JIANG T, XIAO D, et al.. On diagram-based three-dimensional reconstruction of UAV image[J].Opt. Precision Eng.,2016, 24(6):1501-1509.(in Chinese)

徐东甫, 白越,宫勋, 等. 多旋翼无人机在变控制量下的三轴磁罗盘校正[J]. 光学精密工程,2016, 24(8):1940-1947. XU D F, BAI Y, GONG X, et al.. Correction of 3-axis magnetic compass in multi-rotor UAV under variable control amounts[J]. Opt. Precision Eng.,2016, 24(8):1940-1947.(in Chinese)

VOOS H, BOU-AMMAR H. Nonlinear trackingand landing controller for quadrotor aerialrobots[C].2010 IEEE International Conferenceon Control Applications, 2010, 58(8):2136-2141.

GHOMMAM J, SAAD M. Autonomous Landing of a Quadrotor on a Moving Platform[J]. IEEE Transactions on Aerospace &Electronic Systems, 2017:PP (99):1-1.

WANG C, LI W, CHEN W, et al.. Autonomous landing control of quadrotor UAVs[C]. IEEE International Conference on Cyber Technology in Automation, 2015:276-280.

GAUTAM A, SUJIT P B, SARIPALLI S. A survey of autonomous landing techniques for uavs[C]. 2015 IEEEInternational Conference on Unmanned Aircraft System. 2015:1210-1218.

JIN S,ZHANG J, SHEN L, et al..On-board vision autonomous landing techniques for quadrotor:A survey[C]. Chinese Control Conference, 2016:10284-10289.

邓平,李莉,范平志. 一种TDOA/AOA混合定位算法及其性能分析[J]. 电波科学学报,2002,17(6):633-636. DENG P, LIU L, FAN P Z. A hybrid TDOA/AOA location algorithm andits performance analysis[J]. The Chinese Journal of Radio Science, 2002,17(6):633-636.(in Chinese)

张保峰,刘同佩,韩燕. 基于TOA的三维空间定位算法研究[J]. 计算机工程与设计,2007,14:3364-3366. ZHANG B F,LIU T P, HAN Y. 3-Dimension location algorithm research based on TOA[J]. Computer Engineering and Design, 2007,14:3364-3366. (in Chinese)

Olson E.AprilTag:A robust and flexible visual fiducial system[C].2011 IEEE International Conference on Robotics and Automation, ICRA 2011. 2011:3400-3407.

WELCH G, BISHOP G. An Introduction to the Kalman Filter[J]. University of North Carolina at Chapel Hill,1995, 8(7):127-132.

Views

587

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

LightDiffu DCE： low light image enhancement based on light intensity diffusion

Multi-level feature fusion for camera pose regression

Real-time super-resolution for infrared dynamic object video based on airborne platform

A Transformer-based visual tracker via knowledge distillation

Specral-spatial classification of hyperspectral imagery with hybrid architecture of 3D-CNN and Transformer

Related Author

YAN Guanghui

WU Baijing

MA Long

SI Junwen

ZHOU Ziwei

ZHU Deyan

XU Jiayi

AO Yongqi

Related Institution

School of Electronics & Information Engineering， Lanzhou Jiaotong University

College of Computer and Software Engineeringng，University of Science and Technology Liaoning

College of Astronautics， Nanjing University of Aeronautics and Astronautics

Key Laboratory of Space Photoelectric Detection and Sensing of Industry and Information Technology， Nanjing University of Aeronautics and Astronautics

School of Communication and Information Engineering， Xi’an University of Posts and Telecommunications

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰