Kong Weiwei, Hu Tianjiang, Zhang Daibing, Shen Lincheng, Zhang Jianwei
College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China.
Naval Academy of Armament, Beijing 100161, China.
Sensors (Basel). 2017 Jun 19;17(6):1437. doi: 10.3390/s17061437.
[-5]One of the greatest challenges for fixed-wing unmanned aircraft vehicles (UAVs) is safe landing. Hereafter, an on-ground deployed visual approach is developed in this paper. This approach is definitely suitable for landing within the global navigation satellite system (GNSS)-denied environments. As for applications, the deployed guidance system makes full use of the ground computing resource and feedbacks the aircraft's real-time localization to its on-board autopilot. Under such circumstances, a separate long baseline stereo architecture is proposed to possess an extendable baseline and wide-angle field of view (FOV) against the traditional fixed baseline schemes. Furthermore, accuracy evaluation of the new type of architecture is conducted by theoretical modeling and computational analysis. Dataset-driven experimental results demonstrate the feasibility and effectiveness of the developed approach.
[-5]固定翼无人机面临的最大挑战之一是安全着陆。本文开发了一种地面部署的视觉进近方法。这种方法绝对适用于全球导航卫星系统（GNSS）信号被干扰的环境中的着陆。在应用方面，所部署的制导系统充分利用地面计算资源，并将飞机的实时定位反馈给其机载自动驾驶仪。在这种情况下，提出了一种单独的长基线立体架构，以拥有相对于传统固定基线方案可扩展的基线和广角视野（FOV）。此外，通过理论建模和计算分析对新型架构进行了精度评估。数据集驱动的实验结果证明了所开发方法的可行性和有效性。
