Vision-based navigation information resolving method for autonomous landing of unmanned aerial vehicle

• Main Authors: WU ZHIXIN, FU XIONGXIN, YAO RUIWEN, HAN PENG, ZHANG WEIDONG
• Format: Patent
• Language: Chinese; English
• Published: 19.06.2020
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention relates to a vision-based navigation information resolving method for autonomous landing of an unmanned aerial vehicle, which comprises the following steps of: (1) designing and manufacturing a landmark, and pasting the landmark on a landing platform; (2) taking a landmark on the landing platform as a detection target, keeping a camera of the unmanned aerial vehicle vertically downward, and continuously shooting a detection target image; (3) preprocessing the detection target image; (4) performing target detection based on the preprocessed detection target image; and (5) resolving navigation information according to the detected target image. Compared with the prior art, the method solves the problem of view loss caused by height change of the unmanned aerial vehicle, navigation information is calculated according to geometrical characteristics of the landmark, the calculation process is simple, and the real-time performance of the algorithm is enhanced. 本发明涉及一种基于视觉的无人机自主降落的导航信息解算方法，该方法包括如下步骤：(1