An Independently Carrier Landing Method Reaserch Using Point And Line Features For UAVs

Landing on the vessel is a very important part of the whole operation chain of the carrier based unmanned aerial vehicle,during which accident is prone to happen.As a matter of fact,it has become one of the bottlenecks that restrict the development of carrier based UAV technology.Compared with the global positioning and navigation method,laser radar tracking method and other methods,vision base method has the advantages of low cost,high precision,and is not easy to be disturbed,hence is currently the research focus in the field of carrier based UAV guidance.The main research content of this paper is how to use the existing point and line features on the deck to solve the relative position and orientation of the ship.According to the research object,this paper presents a new algorithm of position and orientation algorithm based on point and line marks.According to the algorithm,the algorithm is based on the solution of the rolling angle of the sea antenna,and the angle of elevation and yaw is calculated by two parallel track lines.Using the two runway line and a sign above we can calculate the 3 point position parameters with collinear equations and the whole position and orientation parameters get solved.As a reference,this paper also introduces the classic P5 P algorithm and an algorithm based on structured line feature of the algorithm.In order to verify the correctness and reliability of the proposed point line algorithm,this paper makes a numerical simulation experiment on the two line plus one point and two line plus multiple points configurations of the proposed algorithm.Three dimensional visual simulation experiment was carried out on the two line plus two points.Under the same premise,the P5 P algorithm and the structured line marking algorithm are also simulated.From the reference mark,the accuracy of the analysis and comparison,and finally come to the conclusion: The accuracy and robustness of the proposed algorithm is optimal in this paper,but the sea antenna is needed.Although high accuracy and stable performance can be achieved with the three line algorithm,there must be a horizontal line perpendicular to the runway.There is some limitations for the algorithm proposed in this paper as point and line are not unified in theory..In the dual theory of four elements,the form of expression of the point and the line is more uniform.In this paper,we try to deduce the method of solving the position and orientation by combining the point and line of universal fit through the theory.In this paper,a dual four element method based on 4 control points was presented,but the unified algorithm for point line has not been studied.Finally,the digital simulation experiment is carried out,and the performance of the algorithm is analyzed from aspects of the accuracy of the position and solution prerequisites of the solution.