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�������պ����ѧѧ�� 2012, Vol. 38 Issue (1) :98-105    DOI:
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1. �������պ����ѧ �ѧԺ, ���� 100191;
2. �վ�װ���о�Ժ������, ���� 100076;
3. �й�����ƹ����Ź�˾, ���� 100830
Terrain following and autonomous landing using optical flow
Liu Xiaoming1, Chen Wanchun1, Xing Xiaolan2, Yin Xingliang3*
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

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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.
Keywords�� optical flow   optical flow sensor   terrain following   autonomous landing   hardware-in-loop simulation     
Received 2010-09-16;
About author: ��С��(1982��),��,ɽ����Ӫ��,��ʿ��,yuhang@sa.buaa.edu.cn.
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��С��, ����, �����, ������.�������Ƶ��θ������Զ���½[J]  �������պ����ѧѧ��, 2012,V38(1): 98-105
Liu Xiaoming, Chen Wanchun, Xing Xiaolan, Yin Xingliang.Terrain following and autonomous landing using optical flow[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2012,V38(1): 98-105
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