| Citation: | WEI Xianghui, TANG Chaoying, WANG Biaoet al. Visual guidance algorithm design for autonomous landing based on two points in space[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(2): 357-365. doi: 10.13700/j.bh.1001-5965.2018.0285(in Chinese)
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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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