CN106444792A - Infrared visual recognition-based unmanned aerial vehicle landing positioning system and method - Google Patents
Infrared visual recognition-based unmanned aerial vehicle landing positioning system and method Download PDFInfo
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- 238000003384 imaging method Methods 0.000 claims abstract description 14
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The present invention discloses an infrared visual recognition-based unmanned aerial vehicle landing positioning system and method. The system includes an airborne subsystem and an infrared emission point located at a ground base station; the airborne subsystem includes an infrared imaging module, a height detection module, a horizontal deviation calculation module and a flight control module; the infrared imaging module and the height detection module are connected with the horizontal deviation calculation module; and the horizontal deviation calculation module is connected with the flight control module. According to the infrared visual recognition-based unmanned aerial vehicle landing positioning system and method of the invention, the horizontal deviation of an unmanned aerial vehicle and the infrared emission point can be calculated according to the imaging data of the infrared emission point and the height of the unmanned aerial vehicle from the ground, the unmanned aerial vehicle is controlled to move in a horizontal direction; after the horizontal deviation of the unmanned aerial vehicle and the infrared emission point is corrected, the landing of the unmanned aerial vehicle is realized; positioning is accurate in the landing process of the unmanned aerial vehicle; and cost is low.
Description
Technical field
The present invention relates to a kind of unmanned plane landing alignment system based on infrared vision identification and method.
Background technology
UAV referred to as " unmanned plane ", is to be manipulated with the presetting apparatus provided for oneself using radio robot
Not manned aircraft, no driving cabin on machine, but be provided with the equipment such as automatic pilot, presetting apparatus；It is widely used in aerial
Scouting, supervision, communication, antisubmarine, electronic interferences etc..
With scientific and technical continuous development, unmanned plane is in an increasingly wide range of applications, for example plant protection unmanned plane, turns round and look at name
Thinking justice is to protect the UAV of operation for agriculture and forestry plant, and this type unmanned aerial vehicle has flying platform (fixed-wing, Dan Xuan
The wing, many rotors), GPS fly control, spraying mechanism three part composition, control is flown by ground remote control or GPS, to realize spraying operation, can
With spraying agent, seed, powder etc., it is that live and work brings great convenience.
But in unmanned plane operation process, due to operation power, the needs of the various aspects such as plant maintenance, the every work of unmanned plane
Make to be accomplished by for a period of time returning ground base station, this relates to the location technology of unmanned plane landing, and traditional position location techniques are main
Positioned using GPS technology, but the satellite positioning tech of GPS-type, it is principally dedicated to the global position not relying on landform
Put positioning.Civilian GPS has very big drift effect, it is possible to use RTK (Real-Time Kinematic) real time dynamic differential
Method, lifts positioning precision to Centimeter Level, but relatively costly.
Content of the invention
It is an object of the invention to overcoming the deficiencies in the prior art, provide a kind of unmanned plane based on infrared vision identification
Landing alignment system and method, the height apart from ground for the imaging data and unmanned plane according to infrared emission point, calculate unmanned
Machine and the horizontal-shift of infrared emission point, control unmanned plane to move in the horizontal direction, correct the water of unmanned plane and infrared emission point
After flat skew, realize unmanned plane landing, accurate positioning in unmanned plane descent, and low cost.
The purpose of the present invention is achieved through the following technical solutions：A kind of unmanned plane based on infrared vision identification
Landing alignment system, the infrared emission point including On-Board Subsystem with positioned at ground base station；Described On-Board Subsystem includes red
Outer image-forming module, height detecting module, horizontal-shift computing module and flight control modules, infrared imaging module and height detecting
Module is connected with horizontal-shift computing module respectively, and horizontal-shift computing module is connected with flight control modules；
Described infrared emission point is used for launching infrared signal into coverage；
Described infrared imaging module is used for infrared emission point is imaged；
Described height detecting module is used for the height apart from ground for the sensorcraft；
Described horizontal-shift computing module is used for the height according to the imaging data and unmanned plane of infrared emission point apart from ground,
Calculate the horizontal-shift of unmanned plane and infrared emission point；
Described flight control modules are used for controlling unmanned plane to move in the horizontal direction, correct the water of unmanned plane and infrared emission point
After flat skew, realize the precision approach of unmanned plane.
Described infrared emission point is located at unmanned plane regulation stop position on ground base station.
Described infrared imaging module includes lens group and photo-sensitive cell, and described lens group and photo-sensitive cell cooperation are realized red
The imaging of outer imaging point.
Described height detecting module includes height sensor.
Described horizontal-shift computing module includes：
Identification extraction unit, for according to infrared imaging data, extracting the vertical dimension at lens group center and photo-sensitive cell, and
The horizontal range of infrared imaging point on lens group center and photo-sensitive cell；
Angle calculation unit, for the data obtaining according to data extraction module, calculates lens group center and infrared imaging point
Deviation angle, this deviation angle is the deviation angle of unmanned plane and infrared emission point；
Horizontal-shift computing unit, the data collecting for height sensor and calculated deviation angle, calculate no
The man-machine horizontal-shift to infrared emission point.
Described flight control modules include：
Horizontal adjustment control unit, for controlling unmanned plane to correct the horizontal-shift with ground based IR launch point；
Landing control unit, for controlling unmanned plane to realize accurately landing.
A kind of described unmanned plane based on infrared vision identification lands the landing localization method of alignment system, including with
Lower step：
S1. unmanned plane during flying to ground base station infrared emission point coverage；
S2. infrared imaging module carries out infrared imaging to the infrared emission point of ground base station；
S3. height detecting module sensorcraft is apart from the height H on ground；
S4. horizontal-shift computing module, according to the imaging data of infrared emission point and unmanned plane apart from the height on ground, calculates
Unmanned plane and the horizontal-shift of infrared emission point；
S5. flight control modules control unmanned plane to move in the horizontal direction, correct the horizontal-shift of unmanned plane and infrared emission point
Afterwards, realize the precision approach of unmanned plane.
Described step S4 includes following sub-step：
S41. horizontal-shift computing module extracts the vertical dimension of lens group center and photo-sensitive cell in infrared imaging moduleh；
S42. horizontal-shift computing module extracts lens group center and infrared imaging point on photo-sensitive cell in infrared imaging module
Horizontal rangel；
S43. horizontal-shift computing module calculates the deviation angle at lens group center and infrared imaging pointa= arctan(l/h)；
Deviation angleaThe i.e. deviation angle of unmanned plane and infrared emission point；
S44. horizontal-shift computing module is according to deviation angleaWith height H, the level calculating unmanned plane to infrared emission point is inclined
Move：L = Htana.
Described step S5 includes following sub-step：
S51. flight control modules control unmanned plane to move in the horizontal direction, correct the horizontal-shift of unmanned plane and infrared emission point
L, makes unmanned plane be located at the surface of ground base station infrared emission point；
S52. flight control modules control unmanned plane to realize precision approach.
The invention has the beneficial effects as follows：The present invention provides a kind of landing positioning of the unmanned plane based on infrared vision identification system
System and method, the height apart from ground for the imaging data and unmanned plane according to infrared emission point, calculate unmanned plane and infrared
The horizontal-shift of exit point, controls unmanned plane to move in the horizontal direction, after correcting unmanned plane and the horizontal-shift of infrared emission point, real
Existing unmanned plane landing, accurate positioning in unmanned plane descent, low cost, and positioned by infrared technology, it is not subject to sky
Gas, the impact of the condition such as illumination, can achieve round-the-clock operation and positioning.
Brief description
Fig. 1 is the theory diagram of present system；
Fig. 2 is method of the present invention flow chart；
The principle schematic that Fig. 3 offsets for calculated level.
Specific embodiment
Below in conjunction with the accompanying drawings technical scheme is described in further detail, but protection scope of the present invention is not limited to
Described below.
As shown in figure 1, a kind of based on infrared vision identification unmanned plane landing alignment system, include On-Board Subsystem with
Infrared emission point positioned at ground base station；It is inclined that described On-Board Subsystem includes infrared imaging module, height detecting module, level
Move computing module and flight control modules, infrared imaging module and height detecting module are respectively with horizontal-shift computing module even
Connect, horizontal-shift computing module is connected with flight control modules；
Described infrared emission point is used for launching infrared signal into coverage；
Described infrared imaging module is used for infrared emission point is imaged；
Described height detecting module is used for the height apart from ground for the sensorcraft；
Described horizontal-shift computing module is used for the height according to the imaging data and unmanned plane of infrared emission point apart from ground,
Calculate the horizontal-shift of unmanned plane and infrared emission point；
Described flight control modules are used for controlling unmanned plane to move in the horizontal direction, correct the water of unmanned plane and infrared emission point
After flat skew, realize the precision approach of unmanned plane.
Described infrared emission point is located at unmanned plane regulation stop position on ground base station.
Described infrared imaging module includes lens group and photo-sensitive cell, and described lens group and photo-sensitive cell cooperation are realized red
The imaging of outer imaging point.
Described height detecting module includes height sensor.
Described horizontal-shift computing module includes：
Identification extraction unit, for according to infrared imaging data, extracting the vertical dimension at lens group center and photo-sensitive cell, and
The horizontal range of infrared imaging point on lens group center and photo-sensitive cell；
Angle calculation unit, for the data obtaining according to data extraction module, calculates lens group center and infrared imaging point
Deviation angle, this deviation angle is the deviation angle of unmanned plane and infrared emission point；
Horizontal-shift computing unit, the data collecting for height sensor and calculated deviation angle, calculate no
The man-machine horizontal-shift to infrared emission point.
Described flight control modules include：
Horizontal adjustment control unit, for controlling unmanned plane to correct the horizontal-shift with ground based IR launch point；
Landing control unit, for controlling unmanned plane to realize accurately landing.
The landing positioning of alignment system as shown in Fig. 2 a kind of described unmanned plane based on infrared vision identification lands
Method, comprises the following steps：
S1. unmanned plane during flying to ground base station infrared emission point coverage；
S2. infrared imaging module carries out infrared imaging to the infrared emission point of ground base station；
S3. height detecting module sensorcraft is apart from the height H on ground；
S4. horizontal-shift computing module, according to the imaging data of infrared emission point and unmanned plane apart from the height on ground, calculates
Unmanned plane and the horizontal-shift of infrared emission point；
S5. flight control modules control unmanned plane to move in the horizontal direction, correct the horizontal-shift of unmanned plane and infrared emission point
Afterwards, realize the precision approach of unmanned plane.
Described step S4 includes following sub-step：As shown in figure 3,
S41. horizontal-shift computing module extracts the vertical dimension of lens group center C and photo-sensitive cell in infrared imaging moduleh；
S42. horizontal-shift computing module extracts lens group center C and infrared imaging point A1 on photo-sensitive cell in infrared imaging module
Horizontal rangel；
S43. horizontal-shift computing module calculates the deviation angle of lens group center C and infrared imaging point A1a= arctan(l/h)；
This angle is equal to the deviation angle of lens group center C and infrared emission point that is to say, that deviation angleaI.e. unmanned plane with red
The deviation angle of outgoing exit point；
S44. horizontal-shift computing module is according to deviation angleaWith height H, calculate unmanned plane to the level of infrared emission point A
Skew：L = Htana.
Described step S5 includes following sub-step：
S51. flight control modules control unmanned plane to move in the horizontal direction, correct unmanned plane inclined with the level of infrared emission point A
Move L, make unmanned plane be located at the surface of ground base station infrared emission point；
S52. flight control modules control unmanned plane to realize precision approach.
Claims (9)
1. a kind of based on infrared vision identification unmanned plane landing alignment system it is characterised in that：Including On-Board Subsystem and
Infrared emission point positioned at ground base station；It is inclined that described On-Board Subsystem includes infrared imaging module, height detecting module, level
Move computing module and flight control modules, infrared imaging module and height detecting module are respectively with horizontal-shift computing module even
Connect, horizontal-shift computing module is connected with flight control modules；
Described infrared emission point is used for launching infrared signal into coverage；
Described infrared imaging module is used for infrared emission point is imaged；
Described height detecting module is used for the height apart from ground for the sensorcraft；
Described horizontal-shift computing module is used for the height according to the imaging data and unmanned plane of infrared emission point apart from ground,
Calculate the horizontal-shift of unmanned plane and infrared emission point；
Described flight control modules are used for controlling unmanned plane to move in the horizontal direction, correct the water of unmanned plane and infrared emission point
After flat skew, realize the precision approach of unmanned plane.
2. a kind of unmanned plane landing alignment system based on infrared vision identification according to claim 1, its feature exists
In：Described infrared emission point is located at unmanned plane regulation stop position on ground base station.
3. a kind of unmanned plane landing alignment system based on infrared vision identification according to claim 1, its feature exists
In：Described infrared imaging module includes lens group and photo-sensitive cell, described lens group and photo-sensitive cell cooperation realize infrared become
The imaging of picture point.
4. a kind of unmanned plane landing alignment system based on infrared vision identification according to claim 1, its feature exists
In：Described height detecting module includes height sensor.
5. a kind of unmanned plane landing alignment system based on infrared vision identification according to claim 1, its feature exists
In：Described horizontal-shift computing module includes：
Identification extraction unit, for according to infrared imaging data, extracting the vertical dimension at lens group center and photo-sensitive cell, and
The horizontal range of infrared imaging point on lens group center and photo-sensitive cell；
Angle calculation unit, for the data obtaining according to data extraction module, calculates lens group center and infrared imaging point
Deviation angle, this deviation angle is the deviation angle of unmanned plane and infrared emission point；
Horizontal-shift computing unit, the data collecting for height sensor and calculated deviation angle, calculate no
The man-machine horizontal-shift to infrared emission point.
6. a kind of unmanned plane landing alignment system based on infrared vision identification according to claim 1, its feature exists
In：Described flight control modules include：
Horizontal adjustment control unit, for controlling unmanned plane to correct the horizontal-shift with ground based IR launch point；
Landing control unit, for controlling unmanned plane to realize accurately landing.
7. a kind of unmanned plane landing positioning system based on infrared vision identification according to any one in claim 1 ~ 6
System landing localization method it is characterised in that：Comprise the following steps：
S1. unmanned plane during flying to ground base station infrared emission point coverage；
S2. infrared imaging module carries out infrared imaging to the infrared emission point of ground base station；
S3. height detecting module sensorcraft is apart from the height H on ground；
S4. horizontal-shift computing module, according to the imaging data of infrared emission point and unmanned plane apart from the height on ground, calculates
Unmanned plane and the horizontal-shift of infrared emission point；
S5. flight control modules control unmanned plane to move in the horizontal direction, correct the horizontal-shift of unmanned plane and infrared emission point
Afterwards, realize the precision approach of unmanned plane.
8. the landing positioning of a kind of unmanned plane landing alignment system based on infrared vision identification according to claim 7
Method it is characterised in that：Described step S4 includes following sub-step：
S41. horizontal-shift computing module extracts the vertical dimension of lens group center and photo-sensitive cell in infrared imaging moduleh；
S42. horizontal-shift computing module extracts lens group center and infrared imaging point on photo-sensitive cell in infrared imaging module
Horizontal rangel；
S43. horizontal-shift computing module calculates the deviation angle at lens group center and infrared imaging pointa= arctan(l/h)；
Deviation angleaThe i.e. deviation angle of unmanned plane and infrared emission point；
S44. horizontal-shift computing module is according to deviation angleaWith height H, the level calculating unmanned plane to infrared emission point is inclined
Move：L = Htana.
9. the landing positioning of a kind of unmanned plane landing alignment system based on infrared vision identification according to claim 7
Method it is characterised in that：Described step S5 includes following sub-step：
S51. flight control modules control unmanned plane to move in the horizontal direction, correct the horizontal-shift of unmanned plane and infrared emission point
L, makes unmanned plane be located at the surface of ground base station infrared emission point；
S52. flight control modules control unmanned plane accurately to drop on infrared emission point.
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| CN106774423A (en) * | 2017-02-28 | 2017-05-31 | 亿航智能设备（广州）有限公司 | The landing method and system of a kind of unmanned plane |
| CN108445916A (en) * | 2018-04-01 | 2018-08-24 | 成都远致科技有限公司 | A kind of servo-actuated landing system of unmanned plane |
| CN111176323A (en) * | 2019-12-30 | 2020-05-19 | 湖南华诺星空电子技术有限公司 | Radar and infrared integrated unmanned aerial vehicle landing control method and device |
| CN113311868A (en) * | 2021-05-28 | 2021-08-27 | 南京先飞机器人技术有限公司 | Self-protection method of unmanned aerial vehicle under GNSS interference |
| CN113534825A (en) * | 2021-08-18 | 2021-10-22 | 广东电网有限责任公司 | Control system and control method for automatic parking of unmanned aerial vehicle |
| CN113741534A (en) * | 2021-09-16 | 2021-12-03 | 中国电子科技集团公司第五十四研究所 | Unmanned aerial vehicle vision and positioning double-guidance landing method |
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Application publication date: 20170222 |