Research On The Launching System And Autonomous Landing System For An Unmanned Aerial Vehicle

Nowadays, unmanned aerial vehicle (UAV) plays a more and more importantrole in the modern war, and has many applications in civilian areas such as seeding,delivering packages and so on. Thus we urgently need to come up with a stabilitysystem of the launching and autonomous landing way for an unmanned aerial vehicle,to ensure that UAV can safe to complete the task.This paper was carried research on the launching and the autonomous landingsystem for unmanned aerial vehicle, the main work is as follows:According to the launching technical requirements of HT-80that it is a small airdefense unmanned drone vehicle, we compared the current five launching ways thatthey are running take-off, catapult-assisted take-off, rocket-propelled launch, handthrowing emission, air launch and vertical take-off, and then chose a launching waywhich is suited for HT-80.Under the condition of some technical requirements that they contains that thelauncher must match the HT-80’s support points and can withstand loads duringlaunch and so on, we used catia to design the3D maps about the launcher used for theHT-80, and then export the two-dimensional figure, processed the launcher. Proven,the launcher can meet the requirement.Compared three kinds of navigation methods that they are INS, GPS navigationand visual navigation, select the appropriate landing way for HT-80. Analyzed thecaptured images of the runway, used some operators of edge detection extract theimage edge, compared to the results of each method, and chose the appropriate edgedetection operator. Used line extraction algorithm to extract the linear features of theimage. According to the horizon and the runway line is the longest and continuousline in the image, we know the maximum three value in the accumulator is what weneed.Studies were made for improving the estimation of attitude angles during thelanding of the UAV based on a new horizon detection algorithm. We used the transfermatrixes from ground coordinate system to the camera coordinate system, bodycoordinate system to the camera coordinate system and body coordinate system to the ground coordinates to determine the UAV attitude. After extracting the features ofhorizon and runway from the pictures and analyzing the relationships between thehorizon and runway characteristics and UAV attitude angle, we estimated the UAVroll angle and pitch angle and used the characteristics of the runway to estimate theUAV yaw angle on base of acquiring the attitude angle of the camera. Matrixtransformation is used to calculate the attitude angle of the UAV and stimulation wascarried out to verify the results. It is estimated that there is no special requirements onthe installation position of the camera. As a result, it is feasible to remove restrictionson the installation location of the camera and simplify the method to estimate theUAV attitude information.Researched on the launching and landing process for the UAV, we selected thelaunching way of the UAV, estimated attitude angles based on the method of visualnavigation and so on, to meet the needs of estimate the attitude Angle. To solve theproblem of visual navigation of UAV provides a theoretical reference.