基于空间两点的视觉自主着陆导引算法设计

doi:10.13700/j.bh.1001-5965.2018.0285

北京航空航天大学学报 ›› 2019, Vol. 45 ›› Issue (2): 357-365.doi: 10.13700/j.bh.1001-5965.2018.0285

基于空间两点的视觉自主着陆导引算法设计

魏祥灰, 唐超颖, 王彪

南京航空航天大学自动化学院, 南京 211106

收稿日期:2018-05-21 出版日期:2019-02-20 发布日期:2019-03-04
通讯作者: 王彪 E-mail:wangbiao@nuaa.edu.cn
作者简介:魏祥灰女,硕士研究生。主要研究方向:无人机视觉导引;唐超颖女,博士,副教授,硕士生导师。主要研究方向:导引控制与图像处理;王彪男,博士,副教授,硕士生导师。主要研究方向:飞行器控制与视觉导引。
基金资助:
南京航空航天大学研究生创新基地（实验室）开放基金-中央高校基本科研业务费专项资金（kfjj20170302）

Visual guidance algorithm design for autonomous landing based on two points in space

WEI Xianghui, TANG Chaoying, WANG Biao

College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China

Received:2018-05-21 Online:2019-02-20 Published:2019-03-04
Supported by:
Fundation of Graduate Innovation Center in NUAA-the Fundamental Research Funds for the Central Universities (kfjj20170302)

摘要/Abstract

摘要： 为提高无人机着陆效率，从着陆速度向量场和导引律设计两方面研究改进。首先，基于椭圆设计速度向量场，实现飞行路程更短、机动性能要求更低的着陆轨迹。然后，基于像素坐标系与机体坐标系的关系，设计无人机的航迹方位角指令；以椭圆切线方向为参考，结合合作矢量特征，设计航迹倾斜角指令；利用图像信息，设计速度大小指令。最后，理论比较了传统轨迹与提出轨迹对方向机动性性能的要求，给出了轨迹参数与无人机方向机动性性能的关系。利用Simulink搭建系统仿真平台，计算满足要求的合作矢量特征。结果表明，无人机以曲线轨迹准确软着陆到目标，满足实际运用的需要。

关键词: 垂直起降无人机(VTOL UAV), 自主着陆, 视觉导引律, 速度向量场, 方向机动性能

Abstract: In order to increase the landing efficiency, improvements are made in two aspects:landing velocity vector field and guidance law design. Landing velocity vector field is designed based on ellipse curve for the requirements of shorter flight path and less maneuverability. Meanwhile, the flight path azimuth angle command is generated based on the relationship between the image coordinate system and the body-fixed frame. With reference to the tangential direction of the ellipse, the flight path elevation angle is tuned and combined with the cooperative vector features. Speed command is calculated using image information. Finally, the requirements of the traditional trajectory and the proposed trajectory on the directional maneuverability are compared in theory. The relationship between the trajectory parameters and the UAV turning performance is then shown. The system simulation platform is built based on Simulink, and the required cooperative vector is calculated. The results show that the UAV accurately lands on the target with curved trajectory, which meets the needs in practical applications.

Key words: VTOL UAV, autonomous landing, vision-based guidance law, velocity vector field, turning maneuver performance

中图分类号:

V249.3

魏祥灰, 唐超颖, 王彪. 基于空间两点的视觉自主着陆导引算法设计[J]. 北京航空航天大学学报, 2019, 45(2): 357-365.

WEI Xianghui, TANG Chaoying, WANG Biao. Visual guidance algorithm design for autonomous landing based on two points in space[J]. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2019, 45(2): 357-365.

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基于空间两点的视觉自主着陆导引算法设计

Visual guidance algorithm design for autonomous landing based on two points in space

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