中文摘要：

基于仿生双眼的异向运动原理，提出了超小型无人旋翼机野外定点着陆的一种新型定位方法，并且根据眼球运动的神经回路，建立了眼球异向运动控制模型。对该控制模型进行了仿真实验，并将仿真结果与双目异向运动的生理学特点作了对比，对比结果表明该模型符合双眼异向运动的生理学特点，能自适应地实现双目异向运动。最后，在仿真的基础上，分析了影响超小型无人旋翼机野外定点着陆的因素。这种新型的方法与传统的视觉方法相比，可以消除盲区，从而克服了野外定点着陆的不准确性。

英文摘要：

Based on the principle of binocular vergence eye movements, a new type of field fixed point landing method for subminiature robot helicopters was put forward, and a model for control of binocular vergence eye movements was established according to oculomotor neural pathways. A simulation experiment on the model was conducted and the results proved the model＇ s physiological characteristics of binocular vergence eye movements, showing that this model can realize adaptive binocular vergence movements. Finally, on the basis of the simulation, the factors that impact the landing of subminiature unmanned helicopters were analyzed. Compared with the conventional methods, this new one can eliminate blind areas and improve the landing accuracy.