无人机自主着陆过程中的视觉导航技术分析

为解决目前国内外无人机难以实现自动着陆的问题,对无人机着陆过程中的视觉导航技术进行研究.介绍了飞行器的降落等级和着陆阶段,分别对无人机着陆过程中的图像处理技术和位姿估计问题进行分析,重点研究着陆过程中的图像特征提取技术和位姿估计的迭代算法.研究结果表明:将视觉导航与其他导航方式相结合,发展鲁棒性好、精度高、实时性好的组合导航位姿估计融合算法将是未来视觉导航的发展重点.

Analysis of Vision-based Navigation for Autonomous Landing of Unmanned Aerial Vehicle

In order to solve the problem that the unmanned aerial vehicle (UAV) is difficult to realize automatic landing at home and abroad, the vision-based navigation technology in the UAV landing process was studied. The landing and landing phases of aircraft was introduced. The image processing technology and pose estimation problem of UAV landing process was analyzed respectively, especially the image feature extraction technology and iterative algorithm of position and attitude estimation during landing. The research results showed that: combining the vision-based navigation with other navigation modes, developing the integrated navigation pose estimation and fusion algorithm with good robustness, high accuracy and good real-time would be the development focus of future vision navigation.