在没有无线电通信的情况下,无人驾驶飞机的自动驾驶系统

Tetyana Shabelnik, Serhii Krivenko, Olena Koneva
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引用次数: 0

摘要

本文研究了在无无线电通信的情况下无人驾驶飞行器(UAV)的一个最紧迫的问题。因此,本文的目的是利用技术视觉的方法,开发一种针对无线电控制信号丢失的无人机自动驾驶算法和方法。最有效的地标跟踪、识别和检测方法是基于参考信息(已知导航目标数据库)与观测场景的实时对比。研制了无人机在失去无线电控制信号或gps导航条件下的自动驾驶工作系统。无人机的硬件和软件提供全自动控制。该系统的编程分为飞行任务规划和飞行轨迹计算两个阶段。飞行任务的规划是通过设置地形地标和与其相关的飞行参数来完成的。在这个阶段,形成了景观各个组成部分的概括标准,并通过等级划分它们。这项工作结合了对具有高度标记的点的识别,并固定了该地区可用的水平表面的高度。所有的水平面都以最短的击球与至少三个标高点相连。基于地形的目标选择过程直接关系到地形目标的分割,其分割结果对图像分析和无人机控制的后续处理具有重要影响。路线起点的校准在无人机发射时进行。控制系统在地形基础上相对于预先指定的地标在整个运动轨迹上自动监视UAV的位置。在飞行过程中,地形和地形基地的结构镜头进行了比较。该算法基于地标几何参数的比较。几何中心O(x, y)和面积S的参数由这些参数考虑。根据原方程的计算系数值,首次采用最小二乘法确定OX、y和OZ三轴上的控制信号。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
AUTOMATIC PILOT SYSTEM FOR UNMANNED OF AIRCRAFT IN THE ABSENCE OF RADIO COMMUNICATION
One of the most pressing problems of piloting unmanned aerial vehicles (UAV) in the absence of radio communication is considered in the article. Therefore, the aim of the article is to develop an algorithm and method of automatic piloting of UAV in terms of loss of radio control signal using the methods of technical vision. The most effective methods of tracking, identification and detection of landmarks are based on the comparison of reference information (database of known navigation objects) with the observation scene in real time.Working system of automatic piloting of UAVs in the conditions of loss of radio control signal or GPS-navigation developed. The hardware and software of the UAV provides full automatic control. The programming of the system consists of two stages: planning the flight task and calculating the trajectory of the UAV in flight. The planning of the flight task is carried out by setting the topographic landmarks and flight parameters in relation to them. At this stage, the criteria for the generalization of the various components of the landscape are formed and their division by gradations. This work is combined with the recognition of points with altitude marks, and fixing the heights of horizontal surfaces available in the area. All horizontal surfaces are tied with the shortest shooting strokes to at least of three points with elevations. The process of topography-based object selection is directly related to its segmentation, the results of which significantly affect the further process of image analysis and UAV control. The calibration of the starting point of the route occurs during the launch of the UAV. The control system automatically monitors the location of the UAV throughout the trajectory of the movement on a topographic basis relative to the prespecified landmarks. Structured shots of the terrain and topographic bases are compared during the flight. The algorithm is based on the comparison of geometric parameters of landmarks. The parameters of the geometric center O(x, y) and the area S are taken into account by such parameters. The control signal in the three axes OX, OY and OZ is determined for the first time by the method of least squares depending on the values ​​of the calculated coefficients of the original equations.
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