An UAV precision landing method based on virtual control point on the high voltage transmission line

A method for UAV landing precisely on ground wire of high voltage transmission line is proposed based-on virtual control points. It solves the problem of high complexity and low computational efficiency of traditional attitude estimation algorithm. Firstly, the iterative algorithm based on spatial collinearity error is used to improve the pose estimation velocity. Then, according to the idea of virtual control point in EPnP algorithm, the pose estimation accuracy of the iterative solution is improved without increasing the computational complexity. Finally, the performance of the algorithm is tested by simulation and unmanned aerial vehicle experiments. The results show that the algorithm not only maintains the pose estimation accuracy, but also can obtain the pose estimation speed better than the orthogonal iterative algorithm which has a broader application prospects.