Unmanned aerial vehicle scene matching auxiliary navigation method and system

A technology of scene matching and auxiliary navigation, which is applied in the field of navigation to achieve the effect of high real-time, high precision, efficient and accurate image matching

Active Publication Date: 2012-04-25
SPACE STAR TECH CO LTD
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  • Abstract
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Problems solved by technology

[0010] The invention proposes to use the content-based image retrieval method to select the scene matchi

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  • Unmanned aerial vehicle scene matching auxiliary navigation method and system
  • Unmanned aerial vehicle scene matching auxiliary navigation method and system
  • Unmanned aerial vehicle scene matching auxiliary navigation method and system

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[0068] The technical solution of the present invention will be described in detail below in conjunction with the drawings:

[0069] Such as figure 1 with Image 6 Shown are the flowcharts of the method and system modules of the present invention. The methods and modules respectively include the corresponding image preprocessing module for acquiring and preprocessing the reference image, the image feature extraction module for extracting image features, the reference map vocabulary tree building module for building the reference map vocabulary tree, and the A scene matching area selection module for selecting the scene matching area, a scene matching module for realizing scene matching, an error matching removal module for removing wrong matching points, and a navigation error correction module for correcting navigation errors. The processing methods of the modules in the system will be introduced below.

[0070] 1. Obtain the image and preprocess it:

[0071] Preprocess the refere...

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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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Application Information

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IPC IPC(8): G01C21/24
Inventor 安山王婷王兵张宏
Owner SPACE STAR TECH CO LTD
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