Mooring unmanned aerial vehicle optical positioning system based on annular laser target and solid-state camera

• Main Authors: LI JIE, LUO JUN, LI SHUZHONG, WANG QUANXI, ZHANG RUNZHE, WANG ZEZHONG, LI YUEQIANG, YAN PENGHAO, ZHAO PENGPENG, JIAN FUSHENG, LI WEI, ZHANG YI, ZHAO DONGWEI, LI XUN, ZENG HAO
• Format: Patent
• Language: Chinese; English
• Published: 11.03.2022
• Subjects: AEROPLANES; AIRCRAFT; AVIATION; COSMONAUTICS; GYROSCOPIC INSTRUMENTS; HELICOPTERS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PERFORMING OPERATIONS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING; TRANSPORTING

The invention discloses a mooring unmanned aerial vehicle optical positioning system based on an annular laser target and a solid-state camera. The system comprises the annular laser target deployed on a mooring unmanned aerial vehicle, and a light aiming device and a calculation positioning module which are deployed on a ground control station; wherein the light aiming device comprises a solid-state camera; the annular laser target is used for providing a measurement reference of an air-ground slant distance R and a measurement reference of relative orientation alpha and pitching beta of the mooring unmanned aerial vehicle for the solid-state camera; the light aiming device is used for imaging the annular laser target through the solid-state camera to obtain a coordinate value of the annular laser target on a target surface of the solid-state camera; and the resolving and positioning module is used for resolving the coordinate values according to the optical geometrical relationship to obtain the position in