Research On Fire Automatic Landing System Of Shipborne UAV Based On Multi-sensor Fusion

At present,the autonomous landing process of relying on visual or GPS positioning to guide drones is susceptible to complex marine environments such as high winds,fog,and wave fluctuations.While using high-precision sensors to improve the system's anti-jamming capability will increase costs.In order to solve the above problems,this paper proposes a multi-sensor fusion localization algorithm applied in the final stage of UAV automatic landing to compensate for the defects in the monocular vision-guided landing process.And developed its own landing system.The main work of the thesis is as follows:(1)Taking image recognition and positioning technology based on template matching and image size measurement as an example.Analyzing the shortcomings of monocular vision in guiding the automatic landing of shipborne drones essentially.Proposed a solution to correct this process by using UWB positioning data.(2)Discussing The principle of UWB ranging and three-dimensional spatial positioning method based on intersection method of space edge measurement,and designing a target localization algorithm which combines the UWB positioning,monocular vision positioning and GPS/INS data together Based on the joint Kalman filter.Finally,the effectiveness of the algorithm is verified by AirSim three-dimensional simulation platform.(3)Developing a four-rotor UAV flight platform and designing the hardware module and monitoring platform of ground monitoring system.Combining with the above location algorithm,the flight control program of vertical takeoff and landing UAV is realized based on MAVROS external control technology.(4)Constructing a experimental system of autonomous landing to test The human-computer interaction function of ground monitoring system and the autonomous landing function of UAV.And analyzing The landing coordinate data of UAV after test based on two-dimensional Gauss distribution.The results show that the method of using UWB data compensation monocular vision to guide UAV landing can significantly improve the auto,matic landing accuracy of vertical takeoff and landing UAV compared with monocular vision-guided landing method.The mean error of the landing point is less than 6 cm,which meets the design requirements of the system.