Considering the autonomous landing process of the unmanned helicopter,a landing scheme of the unmanned helicopter based on visual guidance is designed independently.The landing landmark is designed according to the actual application situation.The landing landmark features are obtained by the method of combining Canny edge detection with Harris corner detection,and the precise target location and heading information are obtained by coordinate transformation.Based on the Extended Kalman Filter(EKF),the visual processing information and INS information are fused and processed,and then a flight test is carried out.The results show that the system meets the verification requirements of helicopter autonomous landing.