Research On Vision Aided Fixed Landing For Micro Fixed-wing UAV Autonomously

The technology of autonomous flight for UAV(Unmanned Aerial Vehicle)has been a hot topic in UAV field.The autonomous landing for UAV plays an important role in the recovery and second use of UAV,which should be solved urgently.In this paper,a system based on three-dimensional visual navigation is derived for UAV recovery by collision net.Firstly,the kinematics of fixed-wing UAV is established.Considering the coupling between the airspeed and altitude of the UAV when it is landing,the approach called TECS(Total Energy Control System)is used to calculate the explicit solution for the dynamic coupling.The simulation model of TECS has been created,and the simulation result shows that the altitude and airspeed dynamics are decoupled.Secondly,Vision navigation algorithms which based on PN(Proportional Navigation)guidance law for UAV is applied in this paper.The normalized line-of-sight vector based on kinematics of the UAV,which point to the aim is calculated from the algorithms in inertial frame.The range to target is deduced by the Flat-earth model.The simulation model of visual navigation has been created,and the simulation result shows that the target has been locked in its view.Finally,The ARM-based visual navigation board was designed and an autonomous fixed point landing platform for UAV was constructed.The flight result shows that the law can guide the UAV to collide the net successfully.