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A transfer alignment method and device based on visual motion modeling

A technology that transmits alignment and vision, and is used in guidance methods, weapon accessories, offensive equipment, etc., to achieve the effect of being conducive to transfer alignment and high-precision attitude calibration

Active Publication Date: 2014-10-15
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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No domestic scholars have used it in the research of transfer alignment

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  • A transfer alignment method and device based on visual motion modeling
  • A transfer alignment method and device based on visual motion modeling
  • A transfer alignment method and device based on visual motion modeling

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[0024] Due to its advantages of non-contact and high precision, photogrammetry has been extensively researched and applied in many fields. With the continuous improvement of the requirements for rapid response and survivability in modern warfare, the requirements for the accuracy and rapidity of transfer alignment are also getting higher and higher. Combining the two and deploying them in various transfer alignment occasions can help improve the performance of various guidance equipment and greatly improve alignment accuracy.

[0025] Below in conjunction with accompanying drawing, the technical scheme of invention is described in detail:

[0026] The flow chart of this method is as figure 1 As shown in Fig. 1, the image sequence obtained by the visual camera performs dynamic parameter modeling on the relative motion and even the relative disturbance of the main and sub-inertial navigation. On this basis, the Kalman filter equation is established by using the transfer alignme...

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Abstract

The invention discloses a transfer alignment method and device based on visual movement modeling and belongs to application fields of visual navigation and transfer alignment fields. According to the requirements and the actual conditions, a high-speed camera is pre-arranged adjacently to a secondary inertial navigation so that the secondary inertial navigation to be detected is located in a photographing visual field of the camera; and the camera is fixedly connected with a primary inertial navigation. High-accuracy and high-precision characteristic point information of mark points of inertial navigation equipment is collected by the camera and image sequences obtained by a visual camera are used for carrying out dynamic parameter modeling on relative movement of the primary and secondary inertial navigations, even relative disturbance. On the basis of quickly establishing a dynamic model, the transfer alignment of the primary and secondary inertial navigations is realized by utilizing the transfer alignment to establish a Kalman filtering equation. The transfer alignment method and device based on the visual movement modeling can be used for the field needing to carry out alignment on the primary and secondary inertial navigations and solve the high-precision transfer alignment problem.

Description

technical field [0001] The invention relates to the fields of digital camera measurement, computer vision, transfer alignment and the like, and performs speed matching transfer alignment on the basis of a camera measurement method. Background technique [0002] Transfer alignment technology is the guarantee for the accurate positioning of the weapon inertial navigation system and the implementation of precise strikes. It has been deeply studied and widely used in the military field. Transfer alignment is usually completed in two stages: coarse alignment (Coarse Alignment) and fine alignment (Fine Alignment). Coarse alignment is to directly transmit the navigation information such as the position and speed of the main inertial navigation to the sub-inertial navigation, without the process of dynamic matching; the fine alignment criterion needs to estimate the misalignment angle error of the main sub-inertial navigation and make further corrections. At present, foreign transf...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F41G3/00F41G3/22
Inventor 陈维娜曾庆化刘建业柳敏
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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