Abstract:

With the fixedwing of small unmanned aerial vehicle (UAV) autonomous landing control as the research background, an optical flowbased autonomous landing control for fixedwing small UAV is proposesd. Firstly, the fixedwing UAV movement characteristics of the landing phase is analyzed, with the vehicle control decoupled into lateral and longitudinal control. Secondly, the runway line is featured and the sparse linear optical flow field is calculated. Then the camera model is combined with the relationship between the optical flow field and the velocity field, setting the runway line horizontal flow as the feedback of the system to design the control system. Finally, a dynamic simulation system is built in the Simulink environment.The simulation results show that the UAV autonomous landing control is effectively realized through this proposed method.