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| The small unmanned helicopter landing systems usually identify a specific shape on the ground to calculate the distance between helicopter and the target. In this paper, we use a new method. When the unmanned helicopter is landing, the aerial system identifies the QR code on the ground, parses out the information contained, then determines whether the QR code is the place to land. If the helicopter should land on the QR code, the height and distance between helicopter and QR code should be calculated. Using the geometric relationship of the three find patterns of QR code in different coordinate systems, we can calculate the height and distance between the camera and QR code. As the positional relationship between the camera and helicopter is known, the height and distance between helicopter and QR code can be calculated. The information of height and distance will be transmitted to the flight control system on the board of the small unmanned helicopter, which controls the helicopter land. |
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| Keywords:small unmanned helicopter; QR code; coordinate conversion; image recognition |
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