| With the increasing complexity of marine tasks,the national maritime power strategy puts forward more and more stringent requirements for the three-dimensional cross-domain cooperation scope and cooperation efficiency of unmanned systems.The simple UAV or USV is far from meeting the requirements of the complex sea and air missions.Therefore,by developping intelligent collaborative researches on the integration of sea and air,it combines the complementary advantages of USVs with strong endurance and large load and wide detection range of UAVs,which is expected to fundamentally improve the operational capabilities of my country’s unmanned system clusters in monitoring major marine facilities,coverage,synergy efficiency,and reliability.In this thesis,the most important point of the research in the aircraft-boat collaboration is how the UAV can land dynamically on the unmanned boat.Focusing on this key point,the main research contents and innovations of this thesis are as follows:(1)In this thesis,a method of UAV visual recognition target is proposed.By taking the April Tag target with high recognition speed and low false recognition rate as the recognition object and using PNP algorithm to solve the pose,the relative pose of the target and UAV in three-dimensional space can be obtained.In addition,a three-layer nested April Tag target is adopted to solve the problems of incomplete viewing and difficult identification of UAV during landing.(2)The model of UAV is analyzed,and a output regulation controller is designed to control the horizontal movement and height adjustment of UAV,and proved the stability of the control algorithm.The communication mode between UAV and USV is detailedly introduced.The autonomous landing scheme of UAV is designed as well,where the UAV will navigate from long-distance GPS to short-range visual navigation and then land on the moving USV.(3)Based on the UAV platform and HUSTER-30,HUSTER-68 USV platform,the experiment is completed.With the assistance of the landing scheme designed in this thesis,it completes a process of UAV navigation from far to near visual recognition,and realizes the dynamic landing of UAV on the USV,and analyzes the experimental data,the success rate of the UAV’s dynamic landing is greater than 90%,and the landing error is less than15 cm.This thesis provides a method for the realization of UAV-USV cooperation,aiming to provide key technologies for cross-domain UAV-USV clusters so that it can play an important role in marine economy,marine resources survey,and marine national defense. |
