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In recent years, quad-rotor UAV plays an increasingly important role. Autonomous landing is the key tech­ nology for UAV^s intelligence processing system,and it has three main steps: target detection, target tracking, position prediction and landing. In this paper, the improved Apriltags algorithm was used to get target^s 3D position and attitude in real time. PID algorithm and Kalman filtering were used to make the UAV^ s flying more stable and its responding more quickly. Fitting function was used to predict the UAV^s flying path. In conclusion, the method realizes the UAV^s intelligent recognition, stable tracking and autonomous landing for moving target.

四旋翼无人机自主移动降落方法研究 (Research on Autonomous Landing of Quad-rotor UAV).