Unmanned aerial vehicle scene matching auxiliary navigation method and system

Abstract

The invention discloses an unmanned aerial vehicle scene matching auxiliary navigation method and system. The method mainly comprises seven steps as follows: acquiring and preprocessing an image, extracting local characteristics of the image, establishing a reference map vocabulary tree model, selecting a reference image matching area, realizing image matching, removing wrong matching points and correcting the navigation error. Through the invention, the best reference map can be selected in real time from a large reference image database, and accurate matching is finished; and the method and system are used for a high-accuracy positioning or auxiliary navigation process. The method and system disclosed by the invention have the advantages of good real-time performance and high accuracy, and are suitable for an unmanned aerial vehicle-borne processor.

Description

technical field

[0001] The invention relates to the technical field of navigation, and relates to a scene matching auxiliary navigation method and system for an unmanned aerial vehicle. Background technique

[0002] UAV navigation technology refers to the technology that UAV uses onboard navigation equipment and flight control system to locate and control and complete flight tasks. Commonly used methods in UAV navigation include remote control navigation, inertial navigation, satellite navigation, integrated navigation, etc.

[0003] UAVs, especially small UAVs used in combat, have a harsh electromagnetic environment, the remote control communication link is difficult to maintain, and the GPS signal is also susceptible to interference. Among many navigation methods, inertial navigation and scene matching navigation can improve the adaptability of UAV navigation.

[0004] The inertial navigation system uses inertial components to sense the angular velocity and acceleration ...

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