多传感器融合的无人机动态自主着陆系统

张桢浩; 孙伟; 赵春宇

doi:10.3788/OPE.20172513.0151

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多传感器融合的无人机动态自主着陆系统

信息科学 | 更新时间：2020-08-13

- 多传感器融合的无人机动态自主着陆系统
- Multi-sensor fusion UAV dynamic landing system
- 光学精密工程 2017年25卷第10s期页码：151-159
- 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：
  
  国家自然科学基金青年基金资助项目（No.61201290）();国家自然科学基金面上项目资助项目（No.61671356）();中央高校基本科研业务资助项目（No.JB
- DOI：10.3788/OPE.20172513.0151
  中图分类号： TP394.41;V279
- 收稿日期：2017-06-01，
  
  修回日期：2017-06-22，
  
  纸质出版日期：2017-11-25
- 稿件说明：
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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

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