The Technology Of Vision-based Terminal Guidance For Unmanned Aerial Vehicle Landing Based On Muti-spectrum Technology

Unmanned Aerial Vehicle’s(UAV) accurate landing is the very important phrase during UAV flying phrase, it is alse the key of flight security. Landing phrase means that system navigate UAV to critical landing area, to complete accurate landing. The requriment of navigation precision is very high in landing phrase for system.The technology of vision navigation for UAV landing booms in recently years. There are a lot of advantages which compare with other navigation technologys. For example, passive measurement, independent, stable, no accumulated error of time, accurate measurment, small size, cheap and so on.Job of this thesis studys deeply of the technology of vision navigation for UAV landing which is based on technology of muti-spectrum, mainly including three parts: the technology of visible spectrum, the technology of infrared spectrum, the technology of ultraviolet spectrum. Main content of this thesis are listed as following:1. Firstly, this thesis introducts the technology of vision navigation for UAV landing based on visible spectrum. It is a mature technology. This section helps the following technologys technically.2. The above technology can not work well under some extremely bad weather. In order to complete vision navigation landing task during all day, we present the technology of vision navigation for UAV landing based on infrared spectrum. This technology not only uses infaraed technology on project, but also optimizes target detecting algorithm. Its project price has been proved by experiments in open areas.3. Based on the comparison of general methods of speed measurement, this thesis presents a new algorithm about speed measurement based on improved adaptive Kalman filter which applys to binocular vision. This algorithm has been proved and compares with general method by using simulation data.4. The above technologys can not work in extreme condition when the target is covered by sun light, so we present the technology of vision navigation for UAV landing based on ultraviolet spectrum to deal with this condition. The thesis has proved its feasibility from mutiaspect.5. This thesis studys the technology of vision navigation for UAV landing based on technology of muti-spectrum by discussing about three technologys. We show a model of system for some flight task by using one part of muti-spectrum technology in the end.