面向固定翼无人机的视觉导引仿真系统设计与实现

针对无人机自主着陆视觉导引相关算法研究和验证困难的问题,提出了一种基于Flightgear和Matlab的多机组网联合仿真技术,设计并建立了固定翼无人机自主着陆视觉导引仿真系统.系统中Flightgear渲染的摄像头视角图像数据通过HDMI视频接口实时传递到Matlab中;摄像头的内参数可通过虚拟棋盘格标定得出.利用该系统进行了基于合作目标的无人机视觉导引着陆闭环仿真实验,证明该系统能够验证无人机视觉着陆方法、算法的正确性及可行性.

Vision-based guidance simulation system of fixed-wing UAV

In order to solve the problem that it is hard to study and verify the relevant UAV automatic vision landing algorithms,a fixed-wing UAV automatic vision guidance landing simulation system is designed and built by adopting a new method based on co-simulation between Flightgear and Matlab. Flightgear renders camera view images and sends images to Matlab via HDMI connectors. The intrinsic parameter of the Flightgear camera can be virtually calibrated. A close-loop simulation experiment of the cooperative target based UAV vision landing is carried out,which can efficiently verify UAV vision landing algorithms.