Visual guidance landing method for unmanned aerial vehicle capable of vertically landing

The invention discloses a visual guidance landing method for an unmanned aerial vehicle capable of vertically landing, belongs to the technical field of unmanned aerial vehicle landing control, and can accurately obtain the height information of the unmanned aerial vehicle under the condition that a specific landing mark exists. The safety problem caused by the fact that an unmanned aerial vehicle without a high-precision height sensor lands in advance due to inaccurate height information and the unmanned aerial vehicle does not stop power devices such as propellers due to the fact that the unmanned aerial vehicle does not land after landing is solved, the height of the unmanned aerial vehicle is reversely deduced through vision, speed is increased through two-dimensional code recognition, and the head of the unmanned aerial vehicle is adjusted. And the whole landing process is efficient and convenient through the image information of the unmanned aerial vehicle. 一种用于可垂直降落无人机视觉引导降落方法，属于无人机降落控制的技术领域，本发明在有特定降落标