Computer Science ›› 2017, Vol. 44 ›› Issue (Z11): 520-523.doi: 10.11896/j.issn.1002-137X.2017.11A.110

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Research on Autonomous Landing of Quad-rotor UAV

JIA Pei-yang, PENG Xiao-dong and ZHOU Wu-gen   

  • Online:2018-12-01 Published:2018-12-01

Abstract: In recent years,quad-rotor UAV plays an increasingly important role.Autonomous landing is the key technology for UAV’s intelligence processing system,and it has three main steps:target detection,target tracking,position prediction and landing.In this paper,the improved Apriltags algorithm was used to get target’s 3D position and attitude in real time.PID algorithm and Kalman filtering were used to make the UAV’s flying more stable and its responding more quickly.Fitting function was used to predict the UAV’s flying path.In conclusion,the method realizes the UAV’sintelligent recognition,stable tracking and autonomous landing for moving target.

Key words: Target tracking,Autonomous landing,Apriltags,Kalman filter,Fitting function,PID

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