Pose estimation method for autonomous landing of quadrotor unmanned aerial vehicle

For the autonomous landing of drones, the design and detection of landing signs is the most critical issue. This paper designs a landing sign that can be detected at different heights. The sign is composed of a circle and 3 nested squares. And based on the landing The logo gives the research method of UAV pose estimation. The UAV's detection of markers during the landing process is divided into two stages. In the high-altitude stage, the target area is determined by identifying the circle of the landing target; at low altitude In the stage, by detecting the corner points of the nested squares, obtaining the corner point coordinate information to estimate the position and angle information of the UAV and the landing platform. The experimental results show that the method can calculate the relative pose of the UAV and the landing platform. Parameters to achieve autonomous landing.