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Method for tracking aircraft course

An aircraft and heading technology, applied in the field of aircraft visual navigation, can solve the problems of not meeting the real-time requirements of aircraft navigation and large amount of calculation

Inactive Publication Date: 2010-06-23
BEIHANG UNIV
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Problems solved by technology

However, due to the large amount of calculation for SIFT feature extraction and feature description, it cannot meet the real-time requirements of aircraft navigation

Method used

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  • Method for tracking aircraft course
  • Method for tracking aircraft course

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Embodiment Construction

[0053] (d) update the heading, save the i-1 frame heading as a new heading position, the i-1 frame image is a heading image, make i=i+1, and go to step 2;

[0054] (e) Abnormality occurs, and abnormal processing is performed: set flag=1, save the original heading image, save the i-th frame image as a temporary heading image, take the center position of the i-th frame image as the temporary heading position, make i=i+1, turn Enter step 2;

[0055] Step 4: Heading tracking processing under abnormal conditions:

[0056] (i) Analyze the main feature area of ​​the heading image and the image to be processed, and perform feature matching on the analyzed small area to obtain N m1 pair of matching points, a total of N a1 small areas, if N m1 / N a1 >T u , go to step (ii); otherwise, go to step (iii);

[0057] (ii) Calculate the affine transformation model parameters between the heading image and the current frame image by using the matched feature point pairs; substitute the orig...

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Abstract

The invention discloses a method for tracing the course of an aircraft; the method collects image sequences by using a camera that is forwardly arranged at the head of the aircraft and obtains the position of an initial course in the current visual field by feature matching; the method comprises the following realization steps: the primary feature region of a course map is analyzed; a feature point matching is carried out on the analyzed region by an improved SIFT algorithm; the coordinate relation of match-point pairs is described by an affine transformation model, and a model parameter is estimated by the least square method, thereby obtaining the position of the initial course in the current frame. When the aircraft flies forwards, the invention also provides a method for updating the course so as to ensure that the course is not lost for the expansion of the scenes in the visual field; when the aircraft vibrates violently suddenly leading the course to be out of the visual field, the invention provides a corresponding exception handling mechanism as well. In the invention, as the primary feature region is analyzed by information entropy and the original SIFT algorithm is improved, the calculated amount is greatly reduced and the requirements on the real-time performance of the course matching is ensured; simultaneously, the course updating and the exception handling mechanism are considered and have good robustness.

Description

technical field [0001] The invention belongs to the technical field of aircraft visual navigation. The invention relates to an aircraft heading tracking method based on feature matching. Background technique [0002] Aircraft visual navigation technology uses sensors to obtain object information near the heading, performs image segmentation, detection and other processing on the acquired images, and determines the attitude of the navigation device, Altitude and other necessary parameters for navigation to realize autonomous navigation. Visual navigation technology is especially suitable for micro-aircraft (MAV, Micro Air Vehicle). Due to the limitations of MAV volume, load capacity, power consumption, etc., conventional navigation and attitude stabilization equipment cannot be applied to MAV, and a new navigation system with light weight, high integration, and good reusability must be developed for it. At present, MAV is mainly used for reconnaissance and surveillance, an...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/24
Inventor 张海韩颖婕李琳怡
Owner BEIHANG UNIV
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