| Because of its simple structure and strong maneuverability,multi-rotor UAVs have shown great value in civil and military applications.However,due to the short life time of the multi-rotor,the multi-rotor unmanned aerial vehicle(UAV)is combined with the vehicle in order to improve the working time and the scope of work of the multi-rotor UAV.Using quadrotor as the platform,we studied the vehicle UAV system scheme,the quadrotor aircraft flight control technology and vision-based autonomous landing control technology.First of all,it is made clear that the vehicle UAV system is mainly used in disaster relief,the function of every part of the system is put forward,and the performance index of each part is given.We propose GPS and camera gimbal scheme by compare the advantages and disadvantages of various kinds of autonomous landing schemes.Secondly,based on the detailed analysis of the quadrotor flight principle and dynamics model,the flight control system based on PID is designed and simulated by Matlab / Simulink model.The simulation results show that the control system can meet the control requirements of attitude,speed and position of the quadrotor.Then,according to the design of the autonomous landing scheme,the landing icon is designed according to the AprilTags icon.According to Zhang Zhengyou calibration method for camera calibration and the camera extrinsic parameters solution.The algorithm and strategy of autonomous landing PID control based on visual navigation are designed using the extrinsic parameters and the camera gimbal pitch angle.Finally,the simulations of the quadrotor flight control system and the autonomous landing control scheme are carried out by the computer simulation platform based on ROS and V-REP.The simulation results show that the designed autonomous landing and flight control system meet the requirements.The field experiments were carried out on the whole vehicle UAV system,and the experimental results reached the design requirements. |
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