一种采用视觉与红外基准标记及多载荷相机的无人机精准着陆系统
A Precision Drone Landing System using Visual and IR Fiducial Markers and a Multi-Payload Camera
AI总结：
本研究提出一种结合视觉与红外April Tag基准标记、多载荷相机的无人机精准着陆方法，可动态切换传感器，降低数据需求，实现远距昼夜着陆及遮挡后恢复，平均着陆误差0.19米。
摘要：
我们提出了一种借助基准标记与搭载于云台上、配备广角、变焦及红外传感器的多载荷相机实现的无人机自主精准着陆方法。该方法的数据需求极低，主要依赖无人机到着陆台的方向信息，可在相机的不同传感器与变焦倍率间动态切换，且将辅助传感器需求降至最低。它无需用到离地高度、到着陆台的直线距离、基准标记尺寸、6自由度标记位姿（其中朝向信息存在问题）这类数据。我们利用变焦与广角相机，以及视觉类April Tag基准标记，实现了比以往研究作用距离远得多的精准着陆（水平距离168米，高度102米）。我们采用红外光谱中的两类April Tag——主动式与被动式，用于白天与夜间的精准着陆，而非以往多数研究中使用的简单红外信标。主动式红外着陆台为加热型；新型被动式红外着陆台无需供电，处于环境温度下，依靠其高反射率以及地面与天空的红外差值工作。最后，我们提出了一种高层控制策略，用于管理着陆台的初始搜索以及丢失后的后续搜索——这一点在以往研究中未被涉及。实验表明，该方法可实现成功着陆，着陆滑橇至少能接触到着陆台，平均误差为0.19米；同时也验证了当着陆台被暂时遮挡时，系统可成功恢复并完成着陆。
英文摘要：
We propose a method for autonomous precision drone landing with fiducial markers and a gimbal-mounted, multi-payload camera with wide-angle, zoom, and IR sensors. The method has minimal data requirements; it depends primarily on the direction from the drone to the landing pad, enabling it to switch dynamically between the camera's different sensors and zoom factors, and minimizing auxiliary sensor requirements. It eliminates the need for data such as altitude above ground level, straight-line distance to the landing pad, fiducial marker size, and 6 DoF marker pose (of which the orientation is problematic). We leverage the zoom and wide-angle cameras, as well as visual April Tag fiducial markers to conduct successful precision landings from much longer distances than in previous work (168m horizontal distance, 102m altitude). We use two types of April Tags in the IR spectrum - active and passive - for precision landing both at daytime and nighttime, instead of simple IR beacons used in most previous work. The active IR landing pad is heated; the novel, passive one is unpowered, at ambient temperature, and depends on its high reflectivity and an IR differential between the ground and the sky. Finally, we propose a high-level control policy to manage initial search for the landing pad and subsequent searches if it is lost - not addressed in previous work. The method demonstrates successful landings with the landing skids at least touching the landing pad, achieving an average error of 0.19m. It also demonstrates successful recovery and landing when the landing pad is temporarily obscured.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
