基于光流的固定翼小型无人机自主着陆控制

摘要

With the fixed-wing of small unmanned aerial vehicle (UAV)autonomous landing control as the research background,an optical flow-based autonomous landing control for fixed-wing small UAV is proposesd. Firstly,the fixed-wing UAV movement characteristics of the landing phase is analyzed,with the vehicle control decoupled into lateral and longitudinal control.Secondly,the runway line is featured and the sparse linear opti-cal flow field is calculated.Then the camera model is combined with the relationship between the optical flow field and the velocity field,setting the runway line horizontal flow as the feedback of the system to design the control system.Finally,a dynamic simulation system is built in the Simulink environment.The simulation re-sults show that the UAV autonomous landing control is effectively realized through this proposed method.%以固定翼小型无人机的自主着陆控制为研究背景，提出了一种基于光流的固定翼小型无人机自主着陆控制方法。该方法首先在分析固定翼飞行器着陆段运动特性的基础上，将着陆阶段的控制解耦为对飞行器的横向控制和纵向控制，然后以跑道线作为特征，计算其稀疏直线光流场，并结合摄像机模型以及光流场和速度场之间的关系，用跑道线的水平流作为系统反馈，设计控制系统。最后在 Simulink 环境下搭建动态仿真系统，仿真结果表明，使用本文方法可以有效实现飞行器的自主着陆控制。