Landing parameters estimation of unmanned aerial vehicle based on horizon and edges of runway

ZHUANG Li-kui; DING Meng; CAO Yun-feng

doi:10.13873/j.1000-97872010.03.008

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Landing parameters estimation of unmanned aerial vehicle based on horizon and edges of runway

更新时间：2025-09-11

- Landing parameters estimation of unmanned aerial vehicle based on horizon and edges of runway
- Vol. 29, Issue 3, Pages: 104-108(2010)
- 作者机构：
  
  南京航空航天大学自动化学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872010.03.008
  CLC： V279
- Published：2010
- 稿件说明：
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[1]庄丽葵,丁萌,曹云峰.利用地平线与跑道边缘线估计无人机着陆参数[J].传感器与微系统,2010,29(03):104-108.

ZHUANG Li-kui, DING Meng, CAO Yun-feng. Landing parameters estimation of unmanned aerial vehicle based on horizon and edges of runway[J]. 2010, 29(3): 104-108.
[1]庄丽葵,丁萌,曹云峰.利用地平线与跑道边缘线估计无人机着陆参数[J].传感器与微系统,2010,29(03):104-108. DOI： 10.13873/j.1000-97872010.03.008.

ZHUANG Li-kui, DING Meng, CAO Yun-feng. Landing parameters estimation of unmanned aerial vehicle based on horizon and edges of runway[J]. 2010, 29(3): 104-108. DOI： 10.13873/j.1000-97872010.03.008.

摘要

研究了一种基于机器视觉的无人机着陆参数计算方法

通过利用图像处理得到的地平线、跑道两条边缘线在图像像素坐标系下的直线方程

可以获得无人机着陆过程中的5个飞行参数:高度、侧偏距、滚转角、俯仰角、偏航角。介绍了视觉测量的一般理论;给出了飞行姿态角测量方法;提出了无人机高度和与机场跑道中线的距离的计算方法。利用实拍的一段无人机着陆视频验证了提出的方法

实验研究表明:该方法可以有效地获得5个飞行参数

为无人机自主着陆提供着陆参数。

Abstract

An algorithm to obtain landing parameters of Unmanned Aerial Vehicle is studied.Five landing parameters including height

side slip distance

roll

pitch and yaw angles can be computed by equations of horizon and edges of runway by image-processing.Basic theory of vision-based measure is introduced.The methods of flight attitude angles estimation were demonstrated in detail.The algorithm of flight height and distance between UAV and midline of runway were presented.The algorithm was verified by landing video of UAV.Experiment showed that this method can obtain five landing parameters effectively and provide landing parameter for UAV.

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references

图像导航技术的发展和应用 [J]. 包桂秋,周兆英,熊沈蜀,叶雄英. 航空计测技术 . 2003(06)

两种目标图像特征检测与应用 [D]. 王洪群. 华中科技大学 2006

惯性导航系统[M]. 国防工业出版社 , 张良云编, 1992

GPS卫星测量原理与应用[M]. 测绘出版社 , 周忠谟,易杰军编著, 1992

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ZHUANG Li-kui1

DING Meng2

CAO Yun-feng1

FENG Ying2

ZHANG Tao

ZHANG Jun

TANG Hongying

LI Baoqing

Related Institution

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School of Information Science and Technology, ShanghaiTech University

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