Volume 36 Issue 8
Aug.  2010
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Wulan Bagen, Hu Jizhong, Xu Yuanminget al. Unmanned helicopter autonomous board landing system and simulation experiment[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(8): 986-990. (in Chinese)
Citation: Wulan Bagen, Hu Jizhong, Xu Yuanminget al. Unmanned helicopter autonomous board landing system and simulation experiment[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(8): 986-990. (in Chinese)

Unmanned helicopter autonomous board landing system and simulation experiment

  • Received Date: 30 Jun 2009
  • Publish Date: 30 Aug 2010
  • The unmanned helicopter autonomous landing system was composed of vision and recognition sytem, a target tracker, a deck-s state tracker and a fuzzy logic controller. The vision system performed to process the captured image and compute the image-s affine moment invariants. The label was recognized based on the fuzzy logic and those invariants. The label-s motion state was estimated based on the moment. A Kalman filter integrating into the control system was used to track the label and plan the route of unmanned helicopter. The board-s motion state, especially the pitch, roll and lift, is important for safe landing, so an improved Kalman forecast algorithm was designed to predict the board-s state of further one to five steps. The controller was customized based on behavior and fuzzy logic. Simulation results validate proposed algorithm. The unmanned helicopter can recognize the label accurately and track the label in any direction on ground. The improved Kalman filter can estimate the state future one to five periods, and there is less error than normal Kalman filters. The controller can generate the accurate commands and perform the autonomous landing on board safely.

     

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