基于马尔可夫决策的四轴飞行器自动着陆方法

doi:10.7527/S1000-6893.2023.29652

Abstract

Abstract:

When using only civilian GPS guidance for automatic landing of quad-rotor helicopters， there exists the problem of significant deviation. A guidance method based on Markov decision is designed to effectively improve the accuracy of automatic landing. Firstly， an alignment method based on the improved artificial potential field algorithm is designed. The AprilTag3 recognition algorithm is used to quickly identify the landing tag and build the potential field at its center. The yaw alignment of aircraft and pitch alignment of gimbal are performed under the gravitational pull. Secondly， the landing process is established as a Markov Decision Process （MDP） model. The state transition relationship among the action set， state set， and reward set is designed to prevent the aircraft from deviating from the expected state. Finally， considering the environment of automatic landing， an information set is added to the MDP model. The information during flight is used to assist in the determination of the transition relationship， so as to improve the decision-making accuracy of states and actions. Actual flight verification is carried out on the ANAFI quad-rotor helicopter platform. The experimental results show that the automatic landing guidance method based on the MDP model can effectively suppress excessive movements and misjudgments of the aircraft during the landing process. The landing error has been reduced from the meter level to about 10 centimeters， meeting the accuracy requirements for automatic landing of quad-rotor helicopters.

Key words: Markov Decision Process (MDP), automatic landing, data fusion, artificial potential field, quad-rotor helicopter

CLC Number:

V279⁺.2

Zhaojun GU, Huan ZHAO, Jialiang WANG, Liuyang NIE. Automatic landing method for quad-rotor helicopter based on Markov decision process[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(15): 329652.

Figures/Tables 19

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实验情景	着陆结果	横向偏差 Δx/cm	纵向偏差 Δy/cm	平均直线偏差/cm
GPS着陆	结果1	52.8	120.6	100.49
	结果2	30.6	87.2
	结果3	48.7	60.2
MDP着陆	结果1	5.8	11.7	10.24
	结果2	7.1	8.8
	结果3	3.5	5.3

方法	硬件要求	着陆耗时/s	位置精度/cm	环境适应性
文献［24］：使用深度强化学习策略引导飞行器着陆，但需要进行复杂的训练，且因飞行器自身原因存在高度突变的错误估计情况	图形处理器	11.94~19.28	< 20	特定平台着陆
文献［25］：使用视觉-红外信标联合引导着陆，但需要搭载红外信标探测器，且要求着陆平台带有嵌套红外信标的分形标记，成本较高	红外信标探测器	17.50~41.50	< 25	红外信标着陆
文献［12］：使用磁源检测技术实现较高精度着陆，但需要使用高精度磁源检测器，且需要在平台上设置磁源生成器引导着陆，成本较高	高精度磁源检测器	25.00~27.00	< 5	磁源平台着陆
文献［26］：通过在着陆平台上设置不同尺寸的AprilTag标签，辅助飞行器解算不同高度下的姿态信息，但着陆精度波动稍大，标签布局复杂	单目相机	12.50~15.00	< 50	室外靶标着陆
所提方法：使用单一AprilTag标签作为着陆平台，设计基于数据融合的时齐性MDP引导飞行器自动着陆，环境适应性强，着陆精度较好	单目相机	15.60~24.80	< 11	室外靶标着陆

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Automatic landing method for quad-rotor helicopter based on Markov decision process

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