基于透视模型原理,提出了固定翼无人机视觉着降引导的合作信标设计方法。通过信标成像对引导精度的敏感性进行分析,得到了信标特征点间最小距离的设计方法。在无人机由远及近接近信标的过程中,进行视场边界的迭代计算,给出了特征点布置范围的设计方法。搭建了OpenGL视景仿真系统,在国际民航组织规定的二级引导精度及多种无人机飞行位姿条件下,进行了图像敏感性及信标捕获情况分析。测量结果表明,所提方法可保证合作信标设计满足图像敏感性要求,且该信标始终可以被完整捕获。

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.