根据无人机自主着舰要求，设计了一种辅助的特征图案。利用Harris算法进行角点检测，获得了特征点在图像坐标系下的坐标，然后对应得到它的世界坐标系坐标。通过正交迭代的算法估计出无人机的姿态。在自行开发的以数字信号处理机为核心的视觉估计系统平台上对上述算法进行了实验，并进行了半物理仿真。仿真结果表明，该算法具有较快的计算速度和较高的估计精度，对实际应用具有一定参考价值。

Based on the demand of the unmanned aerial vehicle′s (UAV′s) autonomous landing, an easily identifiable pattern is designed. The image information is achieved by the camera in UAV, by using Harris algorithm to process corner detection to obtain the image coordinates of feature points, and matching them with the spatial coordinates of feature points. Orthogonal iteration algorithm is used to estimate the attitude of UAV. The algorithm is implementationed vision evaluation platform based on digital signal processor (DSP), and semi-physical simulation is conducted. Experimental results show that the method has higher calculation speed and accuracy, which providing a certain reterence to practical application.