固定翼无人机视觉着降引导的合作信标设计方法

The perspective model is used to design the cooperative beacons for fixed wing unmanned aerial vehicles with visual in landing. The sensitivity of the beacon imaging to the guidance precision is analyzed, and the design method for the minimum distance between the beacon feature points is obtained. In the process of the UAV(Unmanned Aerial Vehicle) getting close to the beacon, the iterative calculation of the field of view boundary is carried out, and the design method of the layout range of feature points is given. The OpenGL visual simulation system is built to analyze the sensitivity of images and the capturing situation of beacon images under the 2th level guidance precision required by ICAO (International Civil Aviation Organization) and different positions and attitudes of UAV. The measurement results show that the proposed method can guarantee the design of cooperative beacons to meet the requirement of image sensitivity and the beacon can always be completely captured.