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