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首页> 外文期刊>International journal of aerospace engineering >Autonomous Landing of a Micro Aerial Vehicle on a Moving Platform Using a Composite Landmark
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Autonomous Landing of a Micro Aerial Vehicle on a Moving Platform Using a Composite Landmark

机译：使用复合地标在移动平台上自动降落微型航空器

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摘要

In the existing vision-based autonomous landing systems for micro aerial vehicles (MAVs) on moving platforms, the limited range of landmark localization, the unknown measurement bias of the moving platform (such as wheel-slip or inaccurate calibration of encoders), and landing trajectory knotting seriously affect system performance. To overcome the above shortcomings, an autonomous landing system using a composite landmark is proposed in this paper. In the proposed system, a notched ring landmark and two-dimensional landmark are combined as an R2D landmark to provide visual localization over a wide range. In addition, the wheel-slip and imprecise calibration of encoders are modeled as the unknown measurement bias of the encoders and estimated online via an extended Kalman filter. The landing trajectory is planned by a solver as a convex quadratic programming problem in each control cycle. Meanwhile, an iterative algorithm for adding equality constraints is proposed and used to verify whether the planned trajectory is feasible or not. The simulation and actual landing experiment results verify the following: the visual localization with the R2D landmark has the advantages of wide localization range and high localization accuracy, the pose estimation result of the moving platform with unknown encoder measurement bias is continuous and accurate, and the proposed landing trajectory planning algorithm provides a continuous trajectory for reliable landing.
机译：在现有的基于视觉的用于移动平台上的微型飞行器（MAV）的自动着陆系统中，地标定位的范围有限，移动平台的未知测量偏差（例如轮滑或编码器的校准不正确）以及着陆轨迹打结严重影响系统性能。为了克服上述缺点，本文提出了一种使用复合地标的自主着陆系统。在提出的系统中，将带槽的环形地标和二维地标组合为R2D地标，以在较大范围内提供视觉定位。此外，编码器的车轮打滑和不精确校准被建模为编码器的未知测量偏差，并通过扩展的卡尔曼滤波器在线估算。求解器将着陆轨迹规划为每个控制周期中的凸二次规划问题。同时，提出了一种添加等式约束的迭代算法，并用于验证规划轨迹是否可行。仿真和实际着陆实验结果验证了以下几点：R2D地标的视觉定位具有定位范围广，定位精度高的优点，编码器测量偏差未知的移动平台的姿态估计结果是连续且准确的，并且提出的着陆轨迹规划算法为可靠着陆提供了连续的轨迹。

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  • 来源
    《International journal of aerospace engineering》 |2019年第2期|4723869.1-4723869.15|共15页
  • 作者

    Xing Bo-Yang; Pan Feng; Feng Xiao-Xue; Li Wei-Xing; Gao Qi;

  • 作者单位

    Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China;

    Kunming BIT Ind Technol Res Inst INC, Kunming 6501064, Yunnan, Peoples R China;

    Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China;

    Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China;

    Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China;

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  • 正文语种 eng
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