Unmanned aerial vehicle landing method based on nested square visual information

• Main Authors: WU ZHIXIN, YAO RUIWEN, ZHANG AIDONG, HAN PENG, ZHANG WEIDONG, LU YU
• Format: Patent
• Language: Chinese; English
• Published: 10.04.2020
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention relates to an unmanned aerial vehicle landing method based on nested square visual information. The method comprises the following steps: (1) designing a nested square landmark; (2) acquiring landmark images in real time in the landing process of the unmanned aerial vehicle; (3) extracting nested square contour information in the landmark image; (4) determining the relative positionof the unmanned aerial vehicle and the landmark according to the nested square contour information and generating a tracking control instruction; and (5) controlling the unmanned aerial vehicle to land according to the tracking control instruction. Compared with the prior art, the method considers the problem of relative pose lag of the unmanned aerial vehicle due to height change or horizontal displacement view loss and image operation, and is high in landing precision and good in reliability. 本发明涉及一种基于嵌套正方形视觉信息的无人机降落方法，该方法包括如下步骤：(1)设计嵌套正方形地标；(2)无人机降落过程实时采集地标图像；(3)提取地标图像中的嵌套正方形轮廓信息；(4)根据嵌套正方形轮廓信息确定无人机与地标的相对位置并生成追踪控制指