基于视觉-磁引导的无人机动态跟踪与精准着陆

赵燕伟,张健,周仙明,吴耿育

Dynamic tracking and precise landing of UAV based on visual magnetic guidance

Yan-wei ZHAO,Jian ZHANG,Xian-ming ZHOU,Geng-yu WU

表 1 星型窗格辅助分析法测试结果表

Tab.1 Test results of star window auxiliary analysis method

A A1 A2 A3 Q ${\rm{ - 9}}{{\rm{0}}^ \circ }$ ${\rm{ - 89}}{\rm{.9}}{{\rm{8}}^ \circ }$ ${\rm{ - 90}}{\rm{.3}}{{\rm{5}}^ \circ }$ ${\rm{ - 90}}{\rm{.2}}{{\rm{7}}^ \circ }$ ${\rm{ - 0} }{\rm{.2} }{ {\rm{5} }^ \circ },\;{0.02^ \circ }$ ${\rm{ - 6}}{{\rm{0}}^ \circ }$ ${\rm{ - 60}}{\rm{.0}}{{\rm{4}}^ \circ }$ ${\rm{ - 40}}{\rm{.4}}{{\rm{6}}^ \circ }$ ${\rm{ - 59}}{\rm{.5}}{{\rm{3}}^ \circ }$ ${\rm{ - 0} }{\rm{.4} }{ {\rm{6} }^ \circ },\;{0.47^ \circ }$ ${\rm{ - 3}}{{\rm{0}}^ \circ }$ ${\rm{ - 30}}{\rm{.3}}{{\rm{1}}^ \circ }$ ${\rm{ - 30}}{\rm{.3}}{{\rm{2}}^ \circ }$ ${\rm{ - 30}}{\rm{.3}}{{\rm{4}}^ \circ }$ ${\rm{ - 0} }{\rm{.3} }{ {\rm{4} }^ \circ },\;{0.31^ \circ }$ ${{\rm{0}}^ \circ }$ ${\rm{ - 0}}{\rm{.0}}{{\rm{2}}^ \circ }$ ${\rm{ - 0}}{\rm{.4}}{{\rm{5}}^ \circ }$ ${\rm{0}}{\rm{.1}}{{\rm{1}}^ \circ }$ ${\rm{ - 0} }{\rm{.4} }{ {\rm{5} }^ \circ },\;{0.11^ \circ }$ ${\rm{3}}{{\rm{0}}^ \circ }$ ${\rm{ - 29}}{\rm{.7}}{{\rm{4}}^ \circ }$ ${\rm{29}}{\rm{.6}}{{\rm{7}}^ \circ }$ ${\rm{29}}{\rm{.5}}{{\rm{4}}^ \circ }$ ${\rm{ - 0} }{\rm{.4} }{ {\rm{6} }^ \circ },\;{\rm{ - } }{0.26^ \circ }$ ${\rm{6}}{{\rm{0}}^ \circ }$ ${\rm{60}}{\rm{.1}}{{\rm{2}}^ \circ }$ ${\rm{60}}{\rm{.0}}{{\rm{6}}^ \circ }$ ${\rm{59}}{\rm{.8}}{{\rm{8}}^ \circ }$ ${\rm{ - 0} }{\rm{.1} }{ {\rm{2} }^ \circ },\;{0.12^ \circ }$ ${\rm{9}}{{\rm{0}}^ \circ }$ ${\rm{90}}{\rm{.2}}{{\rm{3}}^ \circ }$ ${\rm{90}}{\rm{.1}}{{\rm{7}}^ \circ }$ ${\rm{90}}{\rm{.0}}{{\rm{0}}^ \circ }$ ${ {\rm{0} }^ \circ },\;{0.23^ \circ }$