Application of Visual Guidance and Target Recovery Technology in Autonomous Landing of Unmanned Aerial Vehicles
To address the problem of localization accuracy in realizing autonomous UAV landing on a mobile platform in complex environments,a Robust visually guided target recovery for drone landing system(RGTRDLS)was designed in this paper.It used quadrangle ArUco code technology to correct skewed frames and combined YOLO and SIFT feature point matching techniques for accurate target reconstruction.Through the fusion of Kalman filtering technology and the target's localization information,accurate prediction and track-ing of the target could be realized even when the target was completely lost.After multiple flight experiments,the system showed excellent performance in both static and dynamic landing scenarios.Ultimately,the RVGTRDLS had been successfully applied to a real UAV,ensuring its accurate landing on a moving platform.Validated by multiple flight experiments,the system was able to respond effectively when the UAV encountered the challenges of missing target information,tilted target frames,or partial or complete target loss during land-ing.the system demonstrated excellent performance in both static and dynamic landing scenarios.
万方数据
维普
