The block diagram of the relationship between the drone multi-variable feature stereo vision relative pose measurement system (hereinafter referred to as the relative pose measurement system) and the drone automatic landing system is shown in Fig. 2. The relative pose measurement system dynamically extracts the feature set of the drone through the measuring device installed on the ship. According to the imaging information of the UAV body feature on the binocular sensor, image preprocessing and feature extraction, feature stereo The matching and relative pose optimization algorithm calculates the position and attitude information of the drone relative to the ship. The UAV flight guidance and control system controls the unmanned helicopter in real time through the relative pose information received in real time to complete the accurate landing.
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