Research On Autonomous Landing Control Technology Of Vehicle UAV

UAV has a wide range of applications in the field of civil military and civilian areas,vehicle UAV has gradually become a hot spot of research.Under such background,based on the laboratory project,this study is to carry out the research on the key multi rotor UAV landing on the roof.Firstly,the design of the vehicle UAV autonomous landing of the overall scheme,using GPS and vision processing system to achieve,in particular vision processing system equipped on the UAV,landing icon on the roof,using monocular camera,when the camera image,the system uses GPS position control,the UAV to fly near the target vehicle,when the camera to capture the icon into visual image control,the drones for precision landing or follow steadily.Second,the establishment of the model of the camera,and with MATLAB calibration toolbox of Zen thinking X3 PTZ camera to do the calibration experiment,the camera intrinsic parameters are obtained.Then,it designs the landing icons.Icon size by stacked together to form.In the process of image recognition is not easy to be lost,UAV identify icon in the height of it,is near enough to see the complete large icons identify small icons.Then we study the image processing,edge detection,gray processing,threshold segmentation,two values,contour tracking,and commonly used method,through carrying out the analysis of simulation for several methods of edge detection,Sobel operator line compliant degree do better detection to extract more accurate.Therefore,this paper chooses Sobel operator as the edge detection method.The classic PID control algorithm,were designed for a stationary platform of autonomous landing control system and motion tracking control system,and build the Simulink model simulation analysis,obtained the optimal PID parameters,analysis of pulse jamming effect on no man-machine still landing,not the same speed to follow without the human-machine motion effects.Finally,will design the control system used the actual UAV,many experiments in the outfield,a large number of actual data,and fitting the data curve,detailed analysis and contrast data and the simulation curve,according to the actual effect of be design of the control system can meet the test requirements.