基于激光扫描和计算机视觉的无人机全天候自主着陆导引技术

为了解决基于GPS导航的无人机受他国控制和易受干扰的潜在危险问题,提出以GPS导航系统为主,以捷联惯性导航结合主动式红外激光扫描定位及计算机视觉识别着陆跑道为辅的无人机导航和着陆精确导引新技术,实现无人机全天候的自主精确着陆。提出了该技术的具体工作原理和工作过程,对激光扫描系统的工作原理和扫描模型及扫描参数的确定、着陆点的激光反射装置的确定、着陆点坐标与着陆跑道方向的确定问题和防止发生由其它反射物或红外光源误导的措施等问题进行了分析和研究。

Unmanned Air Vehicle's Navigation and Automatic Accurate Landing in All Weather Basd on Infrared Laser Scan and Computer Vision

In order to resolve the danger of GPS to be jammed and turned off by other country in the special time, a new method of Unmanned Air Vehicle(UAV)'s navigation and automatic landing's guidance is proposed. When GPS is abnormal,the SINS begain to navigate, the infrared laser scan can search the airstrip, and the computer vision can guide the UAV's landing. The model and parameters of the infrared laser scan system, the design of the special reflector in the airstrip composed of reflective prisms and laser lamps, the computer vision algorithms for coordinate and direction of airstrip structured with the special reflector on the square or the highway,and the criterion of GPS on the rails are analyzed. The method of avoiding misguidance caused by others reflector and other infrared laser is made by the special reflector and special frequency laser. The results show that the new method is feasible in practice.