[1]杨成顺,杨忠,薛八阳.基于人工标志的无人机视觉导航方法[J].应用科技,2015,(05):34-37,82.[doi:10.11991/yykj.201505016]
 YANG Chengshun,YANG Zhong,XUE Bayang.An approach of vision navigation of UAV based on artificial marks[J].yykj,2015,(05):34-37,82.[doi:10.11991/yykj.201505016]
点击复制

基于人工标志的无人机视觉导航方法(/HTML)
分享到:

《应用科技》[ISSN:1009-671X/CN:23-1191/U]

卷:
期数:
2015年05期
页码:
34-37,82
栏目:
现代电子技术
出版日期:
2015-10-05

文章信息/Info

Title:
An approach of vision navigation of UAV based on artificial marks
作者:
杨成顺1 杨忠2 薛八阳2
1. 南京工程学院 电力工程学院, 江苏 南京 211167;
2. 南京航空航天大学 自动化学院, 江苏 南京 210016
Author(s):
YANG Chengshun1 YANG Zhong2 XUE Bayang2
1. School of Electric Power Engineering Nanjing Institute of Technology, Nanjing 211167, China;
2. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
关键词:
无人机人工标志视觉导航连续自适应的均值漂移算法
Keywords:
UAVartificial markvision navigationcontinuously adaptive mean-shift (CamShift)
分类号:
V249.32;TP751.1
DOI:
10.11991/yykj.201505016
文献标志码:
A
摘要:
为了实现无人机长时间的精确定位,提出了一种新的视觉导航方法.无人机机载摄像头实时采集无人机相对人工标志物的图像,采用基于CamShift的特征目标跟踪算法,实时识别人工标志,并计算无人机相对标志物的质心位置与图像中心的偏差以及方向角偏差,无人机根据偏差数据生成飞行控制律,调整无人机姿态,实现对无人机的引导.实验验证了该算法的正确性和有效性.
Abstract:
An approach of vision navigation of an unmanned aerial vehicle(UAV) with artificial marks is proposed in this paper. The image of the UAV relative to the artificial mark is gained by the airborne camera in real time. Then the artificial mark is recognized by the object tracking algorithm based on continuously adaptive mean-shift (CamShift). Moreover, the deviation between centroid position of the UAV relative to the artificial mark and image center and the angle deviation of the direction are computed. At the same time, the flight control law of UAV is generated according to the deviated data and the UAV attitude can be adjusted by the flight control law in order to realize the guidance of the UAV. Finally, the correctness and effectiveness of the proposed algorithm are verified through some experiments.

参考文献/References:

[1] 岳基隆, 张庆杰, 朱华勇. 微小型四旋翼无人机研究进展及关键技术浅析[J]. 电光与控制, 2010, 17(10): 46-52.
[2] 杨成顺, 杨忠, 葛乐, 等. 基于多旋翼无人机的输电线路智能巡检系统[J]. 济南大学学报: 自然科学版, 2013, 27(4): 358-362.
[3]吴显亮, 石宗英, 钟宜生. 无人机视觉导航研究综述[J]. 系统仿真学报, 2010, 22(S1): 62-65.
[4]COURBON J, MEZOUAR Y, GUÉNARD N, et al. Vision-based navigation of unmanned aerial vehicles[J]. Control Engineering Practice, 2010, 18(7): 789-799.
[5]张广军, 周富强. 基于双圆特征的无人机着陆位置姿态视觉测量方法[J]. 航空学报, 2005, 26(3): 344-348.
[6]郝向阳, 张振杰, 刘松林, 等. 一种基于人工标志的室内视觉导航方法[J]. 导航定位学报, 2013, 1(4): 26-30.
[7]宋琳娜, 方群. 基于人工标志的视觉/SINS组合导航算法研究[J]. 科学技术与工程, 2012, 64(4): 861-866.
[8]ALLEN J G, XU R Y D, JIN J S. Object tracking using CamShift algorithm and multiple quantized feature spaces[C]//Proceedings of the Pan-Sydney Area Workshop on Visual Information Processing. Darlinghurst, Australia, 2004: 3-7.
[9]CHU Hongxia, YE Shujiang, GUO Qingchang, et al. Object tracking algorithm based on CamShift algorithm combinating with difference in frame[C]// 2007 IEEE International Conference on Automation and Logistics. Ji’nan, China, 2007: 51-55.
[10]NOUAR O D, ALI G, RAPHAEL C. Improved object tracking with CamShift algorithm[C]// 2006 IEEE International Conference on Acoustics, Speech and Signal Processing. Toulouse, France, 2006: 11-17.
[11]符宝鼎, 袁建畅, 郭彩霞. 基于RGB颜色模型棉花杂质的识别算法[J]. 北京纺织, 2005, 26(5): 48-51.
[12]崔昌华, 朱敏琛. 基于肤色HSV颜色模型下的人脸实时检测与跟踪[J]. 福州大学学报: 自然科学版, 2007, 34(6): 826-830.

相似文献/References:

[1]杨成顺,杨忠,马俊,等.基于MS5540C的无人机高度传感器设计[J].应用科技,2010,(08):26.[doi:10.3969/j.issn.1009-671X.2010.08.007]
 YANG Cheng-shun,YANG Zhong,MA Jun,et al.Design of UAV altimeter based on MS5540C[J].yykj,2010,(05):26.[doi:10.3969/j.issn.1009-671X.2010.08.007]
[2]邱楚楚,盖强,马野.基于故障树的无人机发动机点火系统维修性建模[J].应用科技,2011,(08):5.[doi:10.3969/j.issn.1009-671X.2011.08.002]
 QIU Chuchu,GAI Qiang,MA Ye.Maintainability modeling of UAV engine ignition by fault tree[J].yykj,2011,(05):5.[doi:10.3969/j.issn.1009-671X.2011.08.002]
[3]孙日明,赵龙.基于MapX的小型无人机地面站飞行控制软件[J].应用科技,2012,(06):1.[doi:10.3969/j.issn.1009-671X.2012.201204005]
 SUN Riming,ZHAO Long.MapX-based ground control software for miniature UAV[J].yykj,2012,(05):1.[doi:10.3969/j.issn.1009-671X.2012.201204005]

备注/Memo

备注/Memo:
收稿日期:2015-5-17;改回日期:。
基金项目:国家自然科学基金资助项目(61473144);高等学校博士学科点专项科研基金资助项目(20113218110013);南京工程学院引进人才科研启动基金资助项目(YKJ201412).
作者简介:杨成顺(1984-),男,博士,讲师;杨忠(1969-),男,教授,博士生导师.
通讯作者:杨成顺,E-mail:yangchengshun@126.com.
更新日期/Last Update: 2015-10-20