Volume 33 Issue 02
Feb.  2007
Turn off MathJax
Article Contents
Chen Lei, Chen Zongji. Vision-based autonomous landing integrated navigation scheme of unmanned combat aerial vehicles[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(02): 159-163. (in Chinese)
Citation: Chen Lei, Chen Zongji. Vision-based autonomous landing integrated navigation scheme of unmanned combat aerial vehicles[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(02): 159-163. (in Chinese)

Vision-based autonomous landing integrated navigation scheme of unmanned combat aerial vehicles

  • Received Date: 17 Mar 2006
  • Publish Date: 28 Feb 2007
  • A computer-vision-based integrated navigation scheme for autonomous la nding of an unmanned combat air vehicle (UCAV) was presented. Based on this sche me, vision information with measurements of other on-board sensors, including i n ertial navigation system (INS) and altimeter system, could be fused according to t he characteristics of these sensor systems. The scheme gave navigation informati on without the help of external navigation equipments with high measurement accu racy. Since computer vision played an important role in this navigation scheme, the vision algorisms were complicated processes and were discussed, so that the vision sensor measurement could be output with a delay in a low ban dwidth. A multi-rate extended Kalman filter was constructed to fuse multi-rate information and gave high bandwidth attitude and pose estimations based on the output bandwidth of INS. The navigation scheme could run properly on the real-t ime simulation system for autonomous landing of the UCAV.

     

  • loading
  • [1] Amidi O. An autonomous vision-guided helicopter . Pittsburgh:Electrical & Computer Engineering Department, Carnegie Mellon Univer sity, 1996 [2] Schell F R, Dickmanns E D. Autonomous landing of airplanes by dynamic mac hine vision [J]. Machine Vision and Applications, 1994, 7(3):127-134 [3] Sharp C S, Shakernia O, Sastry S S. A vision system for landing an unmann ed aerial vehicle IEEE International Conference on Robotics and Automati on. Seoul:Institute of Electrical and Electronics Engineers Inc, 2001:1720 - 1 727 [4] Hespanha J M, Yakimenko O A, Kaminer I I, et al. Linear parametrically varying system with brief instabilities:an application to vision/inertial navi gation[J]. IEEE Transactions on Aerospace and Electronic Systems, 2004, 40(3): 889-902 [5] Sonka M, Hlavac V, Boyle R. Image processing, analysis, and machine visio n[M]. 2nd ed. :Brooks/Cole Publishing Company, 1999 [6] Smith S M, Brady J M. SUSAN-a new approach to low level image processing [J]. International Journal of Computer Vision, 1997, 23(1):45-78 [7] 李绍燕. 基于机器视觉的无人战斗机自主着陆研究 . 北京:北京航空航天大学自动化科学与电气工程学院, 2004 Li Shaoyan. Research on machine vision-based autonomous landing of unmanned com bat air vehicle . Beijing:School of Automation Science and Electrical Engin eering, Beijing University of Aeronautics and Astronautics, 2004(in Chinese) [8] 陈磊,陈宗基.基于视觉的无人作战飞机自主着陆仿真系统研究[J].系统仿真学报,2006,18(7):1815-1819 Chen Lei,Chen Zongji. Study on simulation system for vision-based autonomous landing of unmanned combat aerial vehicles[J]. Journal of System Simulation,2006,18(7):1815-1819(in Chinese)
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views(3081) PDF downloads(1218) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return