Fized-point Auto-Landing Algorithm for UAV Based on Point Tracking

摘要：

A new automatic fixed-point landing algorithm for UAV using the instantaneous speed obtained by image sensors and computer vision method is proposed. In the proposed scheme, once the specified land pad for landing is captured, the UAV will switch from autoseeking mode to landing mode. In the landing mode, the feature point of the prospective zone is extracted and then being tracked. The noise in the motion parameter introduced by the feature point mismatching is reduced by fast iterative least square algorithm, and the accurate instantaneous speed of UAV is obtained. The simulation results show that the proposed algorithm efficiently improve the accuracy of the estimation of instantaneous velocity for the fixed-point landing system of UAV.

作者: Zhiyu Shao Zhengang Nie Yuan Feng Shunshan Feng

作者单位: State Key Laboratory of Explosion Science and Technology, Beijing Institute of Technology,China School of Electronic and Information Engineering, Beihang University, China Department of Electronic Engineering, Beijing Institute of Technology, China

会议类型: 国际会议

会议名称: International Conference on Space Information Technology 2009(2009年第三届空间信息技术国际会议)

会议地点: 北京

会议语种:英文

页码: 1-6

在线出版日期: 2009-11-26（万方平台首次上网日期，不代表论文的发表时间）