Research on cooperation missions of multiple unmanned vehicles (UVs) is growing to overcome the limitations of conventional missions and to increase the variety of missions. In this study, a vision-based recognition and position measurement system was developed to cooperate with an unmanned aerial vehicle (UAV) in case an unmanned ground vehicle (UGV) is unable to drive due to terrain obstacles. Phase, mode, and requirements were derived to develop the vision system. After installing the developed vision system on UAV, several flight tests were conducted, which proved that the system satisfies all requirements. The vision system showed an average measurement error within 1 m for 80 measurements. It is expected that the vision-based system developed in this study can be applied for the cooperative mission of UAVs and UGVs.

为了克服常规任务的局限性并增加任务的种类，对多种无人飞行器（UV）的合作任务的研究正在不断发展。在这项研究中，开发了基于视觉的识别和位置测量系统，以与无人飞行器（UAV）配合使用，以防无人驾驶地面车辆（UGV）由于地形障碍而无法驾驶。得出了开发视觉系统的阶段，模式和要求。在无人机上安装开发的视觉系统后，进行了几次飞行测试，证明该系统满足所有要求。视觉系统显示80次测量的平均测量误差在1 m以内。可以预期，本研究开发的基于视觉的系统可以应用于无人机和无人飞行器的协同任务。