Abstract
The limited load capacity and power resources of small-scale fixed-wing drones mean that it is difficult to employ internal high-precision inertial navigation devices to assist with the landing procedure. As an alternative, this paper proposes an attitude measurement system based on a monocular camera. The attitude angles are obtained from a single captured image containing five coded landmark points using the radial constraint method and three-dimensional coordinate transformations. The landing procedure is simulated for pitch angles from −15 to −40, roll angles from −15 to +15 and yaw angles from −15 to +15. For roll and pitch angles of approximately 0 and −25, respectively, the accuracy of the method reaches 0.01 and 0.04. This UAV attitude measurement system obtains an attitude angle by a single captured image, which has great potential for assisting with the landing of small-scale fixed-wing UAVs.
Highlights
High-precision measurement of the attitude angles of an unmanned aerial vehicle (UAV), i.e., a drone, is of critical importance for the landing process
Four groups of experiments were performed for simulating the variation of attitude angles during the landing of the drone in which the pitch angle was changed from −15◦ to −40◦, the roll angle from −15◦ to 15◦ and the yaw angle from −15◦ to 15◦
The experimental results show that the proposed method achieves high accuracy in the yaw angle, and the error of yaw angles is less than 1◦ with the variation of pitch angles and roll angles
Summary
High-precision measurement of the attitude angles of an unmanned aerial vehicle (UAV), i.e., a drone, is of critical importance for the landing process. Most methods based on visual techniques to obtain the attitude angles of a UAV require multiple images with a fixed-focus lens. Dong et al [20] matched dual-viewpoint images of a corner target to find the attitude angles All of these methods obtain the drone’s attitude angles through the use of multiple images. In addition to attitude angle delay, most of the existing methods for assisting with the landing of a small fixed-wing drone suffer from the problem of varying view size of cooperative targets. In contrast to existing methods, our method determines the UAV attitude angles from just a single captured image containing five coded landmark points using a zoom system Does this method reduce angle delay, but the use of a zoom system greatly improves the view size of the cooperative target. The remainder of this paper is organized as follows: Section 2 explains the principle of the scheme for obtaining the attitude angles, Section 3 describes a simulation experiment, Section 4 presents the experimental results and a discussion, and Section 5 gives our conclusions
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