为了利用视觉图像中信息的无源性、实时性以及机载控制器的自创性等特性，解决无人机信源易干扰、有延时、受制约的问题，分析了“十”字型四旋翼无人机的动力结构、控制原理以及无人机飞行过程中位姿方程、动力方程之间的相互关系，完成了四旋翼无人机六自由度信息和飞行控制四元素输入信息之间的转换，设计了基于合作目标匹配的无人机视觉图像自主控制算法。结果表明，在实测值为零时，即可完成自主降落功能。该算法可以实现简单环境下四旋翼无人机的自主降落。这一研究对无人机的自主化、智能化发展具有一定的帮助作用。

In order to make full use of the characteristics of the passiveness, real-time nature of the information in the visual image, and the self-creation of the on-board controller, to effectively solve the problems of easy interference, delay, and constraints of the drone signal source, the “十” dynamic structure and control principle of the quad-rotor unmarned aerial vehide(UAV) and the relationship between the posture equation and the dynamic equation during the flight of the UAV were analyzed. The conversion between the six-degree-of-freedom information of the quad-rotor UAV and the four elements of flight control information were completed. An autonomous control algorithm for unmanned aerial vehicle vision images based on cooperative target matching was then designed. The computer simulation verification proves that the algorithm can realize the autonomous landing of a four-rotor drone in a simple environment. This research will help the autonomous and intelligent development of drones.