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计算机视觉导航技术具有精度高、不受电子干扰,成本低等特点,被誉为未来无人机自主着陆的必备手段之一。作为新一代着陆技术手段,视觉自主着陆技术需要进行大量的算法研究和飞行试验,因此有必要建立一个在实验室环境来验证所提方案的可行性。本文将虚拟现实、可视化技术与计算视觉导航算法紧密结合起来,开发了一种无人机视觉自主着陆仿真验证系统,构建场景模块,能够在复杂三维地形、不同气象条件下对无人机视觉自主着陆算法进行仿真验证,实时计算和输出无人机着陆所需位置姿态参数。实验结果表明:该系统真实反映了无人飞行器飞行过程中的动态特性以及姿态角等的变化,并且具备良好的用户显控界面,验证了视觉自主着陆算法的可行性。
Computer vision navigation technology with high precision, free from electronic interference, low cost, known as the autonomous landing of the future one of the necessary means of autonomous landing. As a new generation of landing techniques, the technology of visual autonomous landings requires a lot of algorithmic research and flight tests, so it is necessary to establish a feasibility in the laboratory environment to verify the proposed program. This paper combines virtual reality and visual technology with computational visual navigation algorithm to develop a UAV visual autonomic landing simulation and verification system and construct scene module, which is able to control the autonomy of the UAV in complex three-dimensional terrain and different meteorological conditions Landing algorithm simulation verification, real-time calculation and output of UAV landing position and attitude parameters required. The experimental results show that the system truly reflects the dynamic characteristics of the UAV and the change of attitude angle, and has a good user interface and verifies the feasibility of visual autonomous landing algorithm.