With the wide application of micro Unmanned Aerial Vehicle (UAV) in civil fields such as aerial photography, mapping, environmental monitoring and courier delivery, there is a higher requirement for the availability and reliability of micro UAV. In order to make the micro UAV complete autonomous landing accurately, based on computer vision which has the advantages of low cost, strong independence, and abundant information, We present a relative localization algorithm that identified and matched a multi-leval nested Marker,and show the corresponding autonomous landing system of UAVs with multi-leval Marker detection and orientation. Compared with other systems, the amount of information encoded has the characteristics of high recognition rate and large coding space. Therefore, The system can simultaneously support the configuration of single or multiple apron platforms, and low cost, and without add airborne equipment cost. Finally, the simulation verification and real flight test of the system show that the proposed algorithm can realize the autonomous landing of UAVs.
ZHANG Mi
,
ZHAO Yong
,
BU Shuhui
,
ZHANG Zhenwei
,
YANG Jun
. Multi-level marker based autonomous landing system for UAVs[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2018
, 39(10)
: 322150
-322150
.
DOI: 10.7527/S1000-6893.2018.22150
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