| 基于视觉信息的无人机自主着陆过程姿态和位置估计 |
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| 引用本文： | 陈龙胜,陈谋,姜长生.基于视觉信息的无人机自主着陆过程姿态和位置估计[J].电光与控制,2009,16(5). |
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| 作者姓名： | 陈龙胜 陈谋 姜长生 |
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| 作者单位： | 南京航空航天大学自动化学院,南京,210016 |
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| 基金项目： | 航空科学基金，江苏省自然科学基金 |
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| 摘 要： | 为了提高无人机着陆的自主性和安全性,基于视觉信息提出了一种自主着陆过程中无人机姿态和位置估计新方法.该方法将无人机的滚转、偏航和俯仰运动视为跑道做反方向运动,无人机视为静止,利用Housh变换检测跑道边界线并提取图像直线特征,同时融合无人机的平移运动和旋转旋动,利用地面直线和图像直线间对应关系,根据跑道边界线在图像中的直线特征从而估计出无人机姿态和位置.最后采用仿真实例来验证所研究的无人机姿态和位置估计算法的有效性.
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| 关 键 词： | 无人机 视觉信息 Hough变换 直线特征 姿态估计 位置估计 |
A Vision-Based Attitude/Position Estimation Method for UAV in its Autonomous Landing |
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| CHEN Longsheng,CHEN Mou,JIANG Changsheng.A Vision-Based Attitude/Position Estimation Method for UAV in its Autonomous Landing[J].Electronics Optics & Control,2009,16(5). |
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| Authors: | CHEN Longsheng CHEN Mou JIANG Changsheng |
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| Affiliation: | Automation College;Nanjing University of Aeronautics and Astronautics;Nanjing 210016;China |
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| Abstract: | In order to improve the autonomy and security of an Unmanned Aerial Vehicle(UAV),a vision-based method was proposed for attitude and position estimation of it during its autonomous landing.In this paper,the UAV's roll,yaw and pitch motion are assumed as the runway's retrograde motion while the UAV as static.The runway boundary is detected and straight line features are extracted by use of Hough transformation.Meanwhile,the rotary motion and translational motion are compounded.According to the relationship b... |
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| Keywords: | UAV vision information Hough transform straight line features estimation of attitude estimation of position |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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