Cooperative Beacon Design Method for Fixed Wing Unmanned Aerial Vehicles with Visual in Landing

Shun Yao; Yongmei Cheng; Huixia Liu; Jiawei Xiao; Zhaoxu Tian; Li Dai; Su Yang

doi:10.3788/AOS201939.0315004

Acta Optica Sinica, Volume. 39, Issue 3, 0315004(2019)

Cooperative Beacon Design Method for Fixed Wing Unmanned Aerial Vehicles with Visual in Landing

Shun Yao¹, Yongmei Cheng^1、*, Huixia Liu², Jiawei Xiao³, Zhaoxu Tian¹, Li Dai¹, and Su Yang¹

Author Affiliations

¹ Department of Automation, Northwestern Polytechnical University, Xi'an, Shaanxi 710100, China

² The 365th Research Institute, Northwestern Polytechnical University, Xi'an, Shaanxi 710065, China

³ Xi'an AI Sheng Technology Group Co. Ltd, Xi'an, Shaanxi 710065, China

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Abstract Get PDF(in Chinese)

Figures & Tables(9)

Fig. 1. Schematic for calculating projection distance of beacon feature points

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Fig. 2. Layouts of cooperative beacon. (a) With pitch angle; (b) with yaw angle; (c) vertical view; (d) front view

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Fig. 3. Schematic of design. (a) Range for cooperative beacon set; (b) field of view of UAV

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Fig. 4. OpenGL simulation. (a) Module diagram; (b) flow chart

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Fig. 5. Visual simulation images. (a) 150 m; (b) 550 m; (c) 1000 m

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Fig. 6. Relationship between D and RDS

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Table 1. State of UAV in landing
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Table 1. State of UAV in landing
Range of x /m 800-1000 500-800 300-500 100-300
Range of ψ /(°) (-5,5) (-3,3) (-1,1) 0

Table 2. [in Chinese]
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Table 2. [in Chinese]
Level of landing type Distance to entrance of runway Height to plane of runway Accuracy
Horizontal Vertical
Ⅰ 872.3 60.9 17.1 4.1
Ⅱ 290.7 30.5 5.1 1.7
Ⅲ 0 15.2 4.0 0.5

Table 3. [in Chinese]
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Table 3. [in Chinese]
Feature point Position in computer image coordinate system Position in world coordinate system
X_p Y_p Z_p X_w Y_w Z_w
1 0 0 0 0 0 0
2 11.00 0 0 0 11.00 0
3 -2.00 0 55.00 -55.00 -2.00 0
4 13.00 0 55.00 -55.00 13.00 0

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Shun Yao, Yongmei Cheng, Huixia Liu, Jiawei Xiao, Zhaoxu Tian, Li Dai, Su Yang. Cooperative Beacon Design Method for Fixed Wing Unmanned Aerial Vehicles with Visual in Landing[J]. Acta Optica Sinica, 2019, 39(3): 0315004

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