Visual guidance algorithm design for autonomous landing based on two points in space
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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。
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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.
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图 4 机体坐标系与像素坐标系的关系示意图
Figure 4. Schematic diagram of relationship between body coordinate system and image coordinate system
图 5 无人机与合作特征的空间关系
Figure 5. Spatial relationship between UAV and cooperative characteristics
图 6 β与图像信息之间的关系示意图
Figure 6. Schematic diagram of relationship between β and image information
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