CAJ | 학술논문

在无人机自主着陆过程中,无人机视觉导航系统利用跑道图像解算出无人机的位置姿态信息,为飞行控制系统进行自主着陆控制奠定基础.对视觉导航系统中图像处理及位置姿态解算进行了分析和研究.基于模板匹配进行跑道识别;利用Hough变换提取跑道图像特征;采用最小二乘法对检测出的跑道边缘直线进行拟合并得出其在图像坐标系中的直线方程;基于空间的坐标关系变换,利用推导出的算法对无人机位置姿态进行了解算,并利用实际图像对所用算法进行了实验验证.
재무인궤자주착륙과정중,무인궤시각도항계통이용포도도상해산출무인궤적위치자태신식,위비행공제계통진행자주착륙공제전정기출.대시각도항계통중도상처리급위치자태해산진행료분석화연구.기우모판필배진행포도식별;이용Hough변환제취포도도상특정;채용최소이승법대검측출적포도변연직선진행의합병득출기재도상좌표계중적직선방정;기우공간적좌표관계변환,이용추도출적산법대무인궤위치자태진행료해산,병이용실제도상대소용산법진행료실험험증.
The information of position and attitude of unmanned aerial vehicle (UAV) during autonomous landing is calculated based on runway images by UAV visual navigation system, which provides a basis for flight control systems to perform the function of autonomous landing control. The calculations of image processing, po?sition and attitude estimating in visual navigation system are analyzed and researched. Template matching mode is used to recognize the runway. Image characteristics of runway are extracted by Hough transform. The least square method is used to merger the detected edge lines of runway and their equations in the image coordinate system are achieved. Based on coordination relations in space, the algorithm is derived to calculate the position and attitude of UAV. Real images are used to verify all the algorithms in experiments.