Fault processing method for monocular vision navigation feature point losing

Abstract

The invention discloses a fault processing method for monocular vision navigation feature point losing and belongs to the field of vision relative navigation. The method disclosed by the invention comprises the following steps: when navigation feature points are lost, firstly carrying out rough reconstitution of virtual coordinates of the fault feature points through an image matching method and a geometric method; amending the virtual coordinates of the reconstituted fault feature points on a camera imaging sensitive element by adopting an ant colony searching method according to measurement information of gyro attitude angular velocity in combination with the distance between feature points, the azimuth information and the estimated results of a visual navigation system at the previous moment, and solving the relative position and attitude of a target by adopting a vision navigation iterative algorithm. The processing method disclosed by the invention has the advantages that the method is simple; the effect is obviously improved; the robustness of the visual navigation system is increased; the method can be applied to space missions such as spacecraft ground physical simulation three-degree-of-freedom or five-degree-of-freedom air floating platforms and spacecraft on-orbit services; high-reliability relative position and attitude measurement is provided.

Description

technical field [0001] The invention relates to a navigation feature loss point fault processing method, specifically a monocular vision navigation feature point loss fault processing method, which belongs to the field of visual relative navigation. Background technique [0002] The rapid development of the national economy and the continuous strengthening of national defense construction have promoted the rapid development of space technology such as spacecraft on-orbit service and planetary landing. In space technology, spacecraft on-orbit service plays a positive role in improving the operational capability of spacecraft, enhancing the adaptability of spacecraft, prolonging the life of spacecraft, saving spacecraft development and maintenance costs, and is of great significance to reducing the high risk factor of space technology. Therefore, it has always been the focus of attention of the world's aerospace powers. The first problem that needs to be solved for spacecraft...

AI Technical Summary

Problems solved by technology

At present, for space missions such as spacecraft on-orbit service, in the actual visual navigation process, due to occlusion, feature extraction errors and other reasons, the number of feature points is likely to be insufficient, resulting in the problem that the relative pose cannot be solved using traditional visual navigation methods. making precise navigation impossible

In order to prevent the insufficient number of feature points caused by the loss of feature points in the visual navigation system, the existing technology usually adopts a redundant design method, that is, designing or extracting enough feature points in consideration of external factors such as various environments, so as to ensure that there are many In the case of a feature point failure, there are still enough (for example, more than 5) feature points to choose from, but its disadvantages are: first, the number of feature points extracted is relatively large, and the amount of calculation is large, which increases the operation of the visual navigation system. The load reduces the navigation efficiency of the system; secondly, when the number of feature points is less than a specific number due to occlusion, feature extraction errors and other reasons during the visual navigation process, the system cannot perform normal navigation

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