Autonomous Route Planning Of UAV Based On Electricity Management And Precise Landing

With the development of the technology of gyroplane UAV,this kind of civil aircraft with simple structure,low cost and convenient operation is more and more favored by the society.However,its weak endurance limits the wide application.In response to this problem,this paper presents an autonomous navigation decision-making scheme based on UAV power management and a precise fixed-point landing scheme for UAV.The purpose is to enable the UAV to make decisions on its own navigation according to its residual power.Through the switch between GPS positioning and visual navigation,the UAV can find the target point independently and land at the charging place accurately.The working time of UAV battery can be maximized and the safety of flight mission can be guaranteed at the same time.No requirement of human intervention in the working of the UAV can greatly improve the working efficiency of UAV and the effectiveness of battery power.Firstly,this paper studies the working principle and charge discharge characteristics of the UAV power lithium battery,Based on the observation and the common algorithms of estimating the remaining battery power,an open circuit voltage method which combines the open circuit voltage method and the ampere hour integration method is proposed.Through the discharge tests on the battery and the comparison experiment on the algorithms,it is proved that the approach adopted in this paper improves the accuracy of battery power estimation.Then,based on the battery power management,the autonomous track of UAV is planned,through the actual flight experiment,the power consumption of different speed return is analyzed,which lays the foundation for the design of return route of UAV.Finally,this paper designs a precise landing scheme of UAV Based on image recognition and matching,in order to get the relative position of the UAV and the landing point in real time,according to the camera imaging principle,the camera model is established and the coordinate system is transformed.In order to recognize the image accurately according to the actual application scene,an image detection and recognition algorithm based on template matching is adopted.The autonomous flight of UAV is based on the secondary development of the UAV Based on the DJI onboard SDK,combining GPS return and visual navigation,the precise landing process of UAV is divided into three stages,through experiments,the landing results of UAV at different altitudes are compared.The experimental results show that,this paper proposes a scheme of autonomous navigation decision and precise landing of UAV Based on electricity management,it can make the UAV return automatically according to its remaining power,and guide the UAV to land on the fixed landmark accurately.For the autonomous operation of UAV in the open environment,the utility efficiency of UAV is improved,which provides valuable reference for UAV battery power management and visual guidance of UAV landing and other fields,it has certain theoretical significance and application value.