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首页> 外文会议>Annual Vertical Flight Society Forum and Technology Display >A Vision-Based Control Method for Autonomous Landing of Vertical Flight Aircraft On a Moving Platform Without Using GPS
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A Vision-Based Control Method for Autonomous Landing of Vertical Flight Aircraft On a Moving Platform Without Using GPS

机译：一种基于视觉控制方法，用于在不使用GPS的情况下移动平台上垂直飞行飞机的自主着陆

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The paper discusses a novel vision-based estimation and control approach to enable fully autonomous tracking and landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs) on moving platforms without relying on a GPS signal. A unique feature of the present method is that it accomplishes this task without tracking the landing pad itself; however, by utilizing a standardized visual cue installed normal to the landing pad and parallel to the pilot's/vehicle's line of sight. A computer vision system using a single monocular camera is developed to detect the visual cue and then accurately estimate the heading of the UAV and its relative distances in all three directions to the landing pad. Through comparison with a Vicon-based motion capture system, the capability of the present vision system to measure distances in real-time within an accuracy of less than a centimeter and heading within a degree with the right visual cue, is demonstrated. A gain-scheduled proportional integral derivative (PID) control system is integrated with the vision system and then implemented on a quad-rotor-UAV dynamic model in a realistic simulation program called Gazebo. Extensive simulations are conducted to demonstrate the ability of the controller to achieve robust tracking and landing on platforms moving in arbitrary trajectories. Repeated flight tests, using both stationary and moving platforms are successfully conducted with less than 5 centimeters of landing error.
机译：本文讨论了一种新的视觉估算和控制方法，可以实现垂直起飞和降落（VTOL）的完全自主跟踪和降落在移动平台上的无人驾驶飞行器（UAV）而不依赖于GPS信号。本方法的独特特征是它在不跟踪着陆垫本身的情况下完成此任务;然而，通过利用将正常安装到着陆垫的标准化视觉提示并与飞行员/车辆的视线并联。开发了一种计算机视觉系统，用于检测视觉提示，然后准确地估计到着陆垫的所有三个方向的所有三个方向的UAV和其相对距离。通过与基于VICON的运动捕获系统的比较，证明了本视觉系统的能力在较小的视觉提示的厘米和右侧测量的精度下实时测量距离。增益预定的比例积分衍生物（PID）控制系统与视觉系统集成，然后在名为Gazebo的现实模拟程序中的四转子-UAV动态模型上实现。进行广泛的模拟，以展示控制器实现在任意轨迹的平台上实现稳健跟踪和降落的能力。重复的飞行测试，使用静止和移动平台成功地进行小于5厘米的着陆误差。

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