北京航空航天大学学报 ›› 2012, Vol. 38 ›› Issue (1): 98-105.

• 论文 • 上一篇    下一篇

光流控制地形跟随与自动着陆

刘小明1, 陈万春1, 邢晓岚2, 殷兴良3   

  1. 1. 北京航空航天大学 宇航学院, 北京 100191;
    2. 空军装备研究院总体所, 北京 100076;
    3. 中国航天科工集团公司, 北京 100830
  • 收稿日期:2010-09-16 出版日期:2012-01-30 发布日期:2012-01-13
  • 作者简介:刘小明(1982-),男,山东东营人,博士生,yuhang@sa.buaa.edu.cn.

Terrain following and autonomous landing using optical flow

Liu Xiaoming1, Chen Wanchun1, Xing Xiaolan2, Yin Xingliang3   

  1. 1. School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
    2. System Analysis Institute, Air Force Armament Research Academy, Beijing 100076, China;
    3. China Aerospace Science & Industry Corp, Beijing 100830, China
  • Received:2010-09-16 Online:2012-01-30 Published:2012-01-13

摘要: 将一种自研的光流传感器安装到飞行平台上,利用光流信息控制飞行器的地形跟随和自动着陆.测试了光流传感器的测量性能,建立了飞行器的运动模型,开发了基于光流反馈的地形跟随控制算法,提出了光流自动着陆的控制规律,并进行了数学仿真和硬件在回路的实时仿真验证,实验结果表明:光流信息可以一种相对简单的形式来巧妙地同时控制飞行速度和飞行高度,保证飞行器安全地执行多种飞行任务,实验证明了光流传感器在飞行控制中具有工程可行性.

Abstract: An optical flow sensor, which is fabricated by our laboratory, was mounted on a unmanned aerial vehicle(UAV) to implement terrain following and autonomous landing tasks by using optical flow as feedback. The performance of the optical flow sensor was tested and the UAV model was built. Control algorithm for terrain following based on optical flow was developed and landing strategies using optical flow as feedback was proposed.Mathematical simulations and hardware-in-loop tests show optical flow information can be used in a relatively simple form to control both the flying speed and altitude at the same time to ensure the safety of flying missions for the UAV. The optical flow sensor is proved available for flight control by the hardware tests.

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