Research On Uav Combination Fixed-point Landing Method Based On LIDAR Camera And UWB

Multi-rotor UAVs with vertical take-off and landing capabilities have been widely used in military warfare,geological exploration,disaster rescue,and police patrols.However,the complex application environment and weak positioning signal make safe fixed-point return difficult for UAVs.In view of these problems,a series of research work has been carried out in this paper,including research on UAV recognition target fixed-point landing based on lidar(LIDAR)and camera data fusion,UAV fixed-point landing based on ultra-wideband wireless communication technology(UWB),and UAV combination fixed-point landing based on LIDAR camera and UWB.The specific work content is as follows:The current UAV autonomous landing system mainly uses the Global Positioning System(GPS)or a single visual sensor to identify a specific target for guiding the landing,which has problems such as low landing accuracy,difficulty in long-distance recognition,and limited application scenarios.In this paper,a fixed-point landing method that fuses LIDAR and camera data is proposed.The method first establishes the mathematical relationship between the marking color and the reflection intensity of the LIDAR point cloud,allowing the UAV to confirm the relative location of the landing point without interference from light intensity.Second,the corners of the landing reference target are detected by the camera.Finally,the fusion of LIDAR and camera data is used to detect the marked corners,determine the real-time relative position of the target and the UAV,and guide the landing.Experimental verification has shown that the proposed method is suitable for fixed-point landing of UAVs with long distances and different light intensities.The problems of the sensor limited by the field of view and the low positioning accuracy of a single UWB are aimed at by the proposed UWB-based UAV positioning scheme in this paper.Firstly,the positioning data of the inertial sensor(IMU)and UWB are solved,and the difference between the two is input into the Kalman filter as an observation to predict the optimal horizontal positioning data for the UAV.Secondly,altitude information is provided for UAVs by combining single-point ranging LIDAR.Finally,the predetermined position of the UAV is landed using this method.Through the design of fixed-point landing experiments,it has been verified that the proposed method is not limited by the field of view in the low-altitude environment,and the fixedpoint landing of UAVs is completed with high precision.The problem of difficulty in accurately landing UAVs at fixed points in highaltitude environments is aimed at by the proposed combined fixed-point landing method for UAVs based on LIDAR camera and UWB in this paper.In this method,GPS positioning is first used to fly from any direction to 25 m above the landing platform,and then the Aruco code is identified and altitude is reduced to 5m using the LIDAR camera for landing.Finally,the precise landing is completed using the UWB-based positioning method.With this method,the fully autonomous charging and landing platform in high-altitude environments can be accurately landed by the UAV without being affected by light.The proposed method also has higher landing accuracy than the traditional method.In conclusion,A series of solutions are proposed in this paper to address the challenges of accurate landing of UAVs in high-altitude and complex environments.These solutions have been validated and applied in practical scenarios,providing significant support and assistance for the fully autonomous landing of UAVs in realworld tasks.The quality of the English translation is comparable to that of a published academic paper.