Unmanned Air Vehicle Landing Based on Zigbee and Vision Guidance

This paper presents a new project about UAV landing. Firstly, the project applies zigbee to communicate and estimate the position of UAV, which is a new wireless network technology in the world. Secondly, vision guidance is used to realize identifying and confirming the aircraft accurate position. To identify multi-targets in the CCD vision, an improved morphological gradient image edge detection operator equipped with orientation was provided for better quality of the gargets´ contour in moment algorithm. It is useful that the blurring processing is added in this operator to depress the noise in image and enhance edge´s definition. Then, an algorithm about jointing broken lines was designed. It doesn´t only make the targets´ contour smooth, but also can find the single pixel boundary with tracking. Many kinds of tests show that, the recognition rate under sorts of sky situation is over 90%, the calculated position error is less than 3m with 5000m the measure distance, and 0.2m with 500m distance