Visual PoseMeasure System forVTOL UAVAutonomous Landing
In spite of successes in VTOL UAVs” application, there still hold a challenge onreal-time andaccurate state estimation during autonomous landing.This paper presents asignificant pose measure system based on vision technologythat could obtainthe UAV”s position and attitude without otheron-board sensors real time.In the system, a robust algorithm is proposed to detect special markers (LEDs owning fixed flicker frequency) mounted around maritime UAV well, which could recognize target by its frequency feature from complicated background.In actual process, there exist vast noises, i.e.Gaussian noise.Hence, Particle Filtering is suggested to filter the useful information from mixed observations and smooth the entire UAV”s flight trajectory.Usingthe method mainly, we have expect to improve maritime UAV”sautonomy, make it have the ability oftake-offor landing on special ”habitat” for a temporary rest where the vehicle could recharge or avoid dangers, like bad weather.Finally, the visualnavigation system for UAV is tested with our small quadrotor that hasgood performance on mobility, and results show it works well.
UAV pose frequency feature particle filtering
Yuan Haiwen Xiao Changshi Wen Yuanqiao Wu Xiaochun Zhou Chunhui
School of Navigation, Wuhan University of Technology, Wuhan Hubei 430063, China School of Navigation, Wuhan University of Technology, Wuhan Hubei 430063, China;Hubei Inland Shippin
国内会议
广州
英文
443-454
2015-05-01（万方平台首次上网日期，不代表论文的发表时间）