UAV Precision Guided Landing Technology Based on Cooperation Marks
According to the demand for positioning accuracy during take-off and landing of UAVs,UAV precision guided landing system based on cooperative marks is designed in this paper.This system designs a multi-layer coding marks based on AprilTag as a visual localization cooperation marks.It is used to solve the coding information of the landing site and calculate the visual localization data of the UAV.And it is used to integrate the inertial navigation data to improve the positioning accuracy of UAV.The confidence value of the UAV visual localization and attitude data is estimated with the help of visual image quality,position and attitude accuracy,positioning data fluctuations and other parameters.The position-ing accuracy is improved using the weighted filtering algorithm.Finally,this system has been developed by the actual test,and the test results prove that the positioning accuracy of the UAV precision guided landing system is within 0.2 m.
万方数据
维普
