基于光学视觉辅助无人机自主降落研究综述
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摘要
相对于无线电导航、惯性导航和GPS导航,光学视觉辅助系统依靠其特有的无源性、实时性和动态感知优势,有效解决了无人机降落过程中易干扰、延时长、积累误差大的问题。利用无人机光学视觉设备搜集实时图像信息,辅助控制系统进行无人机自主降落的研究,是现阶段无人机研究的热点方向。从无人机的发展历史引出无人机自主降落的前世今生,再到视觉辅助无人机自主降落的研究动态和展望,指出以光学视觉信息为基础,利用人工智能融合计算机控制和信息传感器等组合系统辅助无人机进行降落是当前无人机自主降落发展的必然趋势。
Compared with the radio navigation,inertial navigation and GPS navigation,optical vision aided system relies on its unique passivity,real-time and dynamic perception advantages,effectively solves the UAV landing process easy to interfere,long delay,accumulated error problems. Using UAV optical vision equipment to collect real-time image information and assistant control system for autonomous landing of UAV is a hot research direction of UAV at this stage. The development history of UAV leads to the research trends and prospects of UAV autonomous landing,and then to the Vision-Assisted UAV autonomous landing. It is pointed out that the UAV autonomous landing is based on optical vision information,using artificial intelligence,computer control and information sensor system to assist UAV autonomous landing. The inevitable trend of main landing development.
Compared with the radio navigation,inertial navigation and GPS navigation,optical vision aided system relies on its unique passivity,real-time and dynamic perception advantages,effectively solves the UAV landing process easy to interfere,long delay,accumulated error problems. Using UAV optical vision equipment to collect real-time image information and assistant control system for autonomous landing of UAV is a hot research direction of UAV at this stage. The development history of UAV leads to the research trends and prospects of UAV autonomous landing,and then to the Vision-Assisted UAV autonomous landing. It is pointed out that the UAV autonomous landing is based on optical vision information,using artificial intelligence,computer control and information sensor system to assist UAV autonomous landing. The inevitable trend of main landing development.
引文
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[25]方艳艳,戴宏发.机载组合导航系统综述[J].科学技术创新,2013,(30):26-26.
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[30]耿明志.无人机自动着陆过程中的视觉导航技术研究[D].南京:南京航空航天大学,2007:28-33.
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[32]张远民.基于机器视觉的无人机着降定位技术研究[D].成都:电子科技大学,2005:15-19.
[33]丁伟,徐锦法,蒋鸿翔.无人直升机着陆控制的视觉图像特征处理算法[J].计算机仿真,2008,2:212-214.
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[37]JISKRA P.Contact Modeling and Experimental Validation for Start and Landing of VTOL UAVs[J].2016:34-37.
[38]贾配洋.无人机高速移动降落技术研究[D].北京:中国科学院大学,2017:10-18.
[39]张光富.基于合成视觉的3D重建技术研究[D].杭州:浙江大学,2008:14-19.
[40]吴赛飞,王新华,贾森,等.基于红外视觉的固定翼无人机自动着陆引导系统[J].电子测量技术,2016,(03):131-135.
[41]樊珑.多旋翼无人机视觉引导降落研究[D].哈尔滨:哈尔滨工业大学,2016:6-10.
[2]陈龙胜,陈谋,姜长生.基于视觉信息的无人机自主着陆过程姿态和位置估计[J].电光与控制,2009,5:47-51.
[3]黄永豪.小型固定翼无人机自动起降控制技术研究[D].北京:北京理工大学,2016:11-15.
[4]SARIPALLI,S,MONTGOMERY,J.F,SUKHATME,G.Visually guided landing of an unmanned aerial vehicle[J].Robotics&Automation IEEE Transactions on,2003,3:371-380.
[5]刘中合,王瑞雪,王锋德,等.数字图像处理技术现状与展望[J].计算机时代,2005,9:6-8.
[6]李先怡.特征点匹配技术在无人机影像匹配中的研究与应用[D].西安:西安科技大学,2011:12-16.
[7]LUPTON T,SUKKARIEH S.Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions[J].IEEE Transactions on Robotics,2012,1:61-76.
[8]PESTANA J,SANCHEZ-LOPEZ J L,PUENTE P D L,et al.A Vision-based Quadrotor Multi-robot Solution for the Indoor Autonomy Challenge of the 2013 International Micro Air Vehicle Competition[J].Journal of Intelligent&Robotic Systems,2015,84:1-20.
[9]唐大全,毕波,王旭尚,等.自主着陆/着舰技术综述[J].中国惯性技术学报,2010,(5):550-555.
[10]陈迪仕.视觉辅助的小型无人直升机自主降落研究[D].杭州:浙江大学,2013:10-15.
[11]沈林成,朱华勇,牛轶峰.从X-47B看美国无人作战飞机发展[J].国防科技,2013,5:28-36.
[12]MUSKARDIN T,BALMER G,WLACH S,et al.Landing of a fixed-wing UAV on a mobile ground vehicle[C]//IEEE International Conference on Robotics and Automation.IEEE,2016:1237-1242.
[13]HERDIANA H,COTTER C,COUTRIER F N,et al.Malaria risk factor assessment using active and passive surveillance data from Aceh Besar,Indonesia,a low endemic,malaria elimination setting with Plasmodium knowlesi,Plasmodium vivax,and Plasmodium falciparum[J].Malaria Journal,2016,1:468-480.
[14]徐啟云,王洁,郝文渊,等.国外无人战斗机发展历程和趋势[J].飞航导弹,2016,3:28-32.
[15]高峰.无人机应用前景广阔[J].国防科技工业,2011,9:44-45.
[16]王志义.无人机任务规划现状及未来发展趋势[J].中国新通信,2016,18:11-14.
[17]樊邦奎.樊邦奎院士:六大方向,知悉无人机的未来[J].机器人产业,2017,1:59-64.
[18]VU Q,RAKOVI C'M,DELIC V,et al.Trends in Development of UAV-UGV Cooperation Approaches in Precision Agriculture[J].2018,12:213-221.
[19]WU Wenhai,BAI Bin.Research on all-weather automatic carrier landing based on opto-electronic guidance[J].Flight Dynamics,2013,12:11-15
[20]DOU Rui,DUAN Haibin.Lévy flight based pigeon-inspired optimization for control parameters optimization in automatic carrier landing system[J].Aerospace Science&Technology,2017,61:11-20.
[21]WANG Guanlong,CUI Xiaowei,LU Mingquan.Triple-frequency sea-based JPALS fault-free navigation algorithm for BDS[J].Acta Aeronautica Et Astronautica Sinica,2017:44-56.
[22]VIEIRA Neide,DENG Fangming,LIANG Fengxia,et al.SNX31:A Novel Sorting Nexin Associated with the Uroplakin-Degrading Multivesicular Bodies in Terminally Differentiated Urothelial Cells[J].Plos One,2014,6:33-48.
[23]杨秋文.未来战争的先行者-火力侦察兵无人机[J].海事大观,2008,2:34-37.
[24]ZHAO Lin,QIU Haiyang,FENG Yanming.Analysis of a robust Kalman filter in loosely coupled GPS/INS navigation system[J].Measurement,2016,80:138-147.
[25]方艳艳,戴宏发.机载组合导航系统综述[J].科学技术创新,2013,(30):26-26.
[26]王亭亭,蔡志浩,王英勋.无人机室内视觉/惯导组合导航方法[J].北京航空航天大学学报,2018,44(1):176-186.
[27]朱虎.基于视觉/GPS混合引导的无人机空中加油对接控制[D].南京:南京航空航天大学,2017:26-36.
[28]刘刚,刘晓航.基于机载视觉的舰载无人机自主着舰引导技术研究[J].舰船科学技术,2017,20:189-191.
[29]乐洋.INS/GPS/PLS组合导航定位系统研究[D].南京:河海大学,2006:24-28.
[30]耿明志.无人机自动着陆过程中的视觉导航技术研究[D].南京:南京航空航天大学,2007:28-33.
[31]徐贵力,倪立学,程月华.基于合作目标和视觉的无人飞行器全天候自动着陆导引关键技术[J].航空学报,2008,2:437-442.
[32]张远民.基于机器视觉的无人机着降定位技术研究[D].成都:电子科技大学,2005:15-19.
[33]丁伟,徐锦法,蒋鸿翔.无人直升机着陆控制的视觉图像特征处理算法[J].计算机仿真,2008,2:212-214.
[34]SHARP C S,SHAKERNIA O,SASTRY S S.A vision system for landing an unmanned aerial vehicle[J].IEEE International Conference on Robotics and Automation,2001,2:1720-1727.
[35]D.H.Shim,H.J.Kim,S.Sastry.Hierarchical control system synthesis forrotorcraft-based unmanned aerial vehicles[C]//In Proceedings of AIAA Conf.on Guidance,Navigation and Control,Denver,2000.
[36]何小九,李彦彬,朱枫,等.国外垂直起降无人机发展现状及设计制造关键技术[J].飞航导弹,2016,6:22-27.
[37]JISKRA P.Contact Modeling and Experimental Validation for Start and Landing of VTOL UAVs[J].2016:34-37.
[38]贾配洋.无人机高速移动降落技术研究[D].北京:中国科学院大学,2017:10-18.
[39]张光富.基于合成视觉的3D重建技术研究[D].杭州:浙江大学,2008:14-19.
[40]吴赛飞,王新华,贾森,等.基于红外视觉的固定翼无人机自动着陆引导系统[J].电子测量技术,2016,(03):131-135.
[41]樊珑.多旋翼无人机视觉引导降落研究[D].哈尔滨:哈尔滨工业大学,2016:6-10.