张谦,邬依林

• 1:广东第二师范学院计算机科学系

摘要(Abstract)：

基于鲁棒滤波的无人机着陆相对导航方法是通过设计的鲁棒高阶容积滤波相对导航滤波器实现无人机着陆导航,缺乏无人机导航图像预处理过程,导航准确性差。为此,提出基于智能视觉的无人机着陆导航方法,采用基于视觉的无人机导航特征提取方法,通过高、低帽滤波器增强无人机视频跑道图像,使用Ostu分割法对增强无人机视频跑道图像做二值化处理和去噪预处理,通过Hough变换提取预处理后无人机跑道图像中跑道的直线特征。依据获取的直线特征,进行无人机姿态角和位置运算以及换算后,获取无人机的姿态角和位置,实现无人机着陆的自主导航。实验证明,所提方法能够有效地对无人机着陆进行导航,并且准确性和效率较高。

关键词(KeyWords)： 智能视觉;无人机;着陆导航;图像预处理;特征提取;姿态角

Abstract:

Keywords:

基金项目(Foundation): 2016年度广东省科技计划项目(2016A010106007)~~

作者(Author): 张谦,邬依林

DOI: 10.16652/j.issn.1004-373x.2018.16.033

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