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Small carrier visual navigation method based on Meanshift algorithm

A visual navigation and algorithm technology, applied in the field of visual navigation

Inactive Publication Date: 2015-02-04
TIANJIN POLYTECHNIC UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Solve the problem of feature extraction and tracking of natural landmarks, solve the data fusion problem of visual information and inertial navigation system parameters, realize the correction of visual information to inertial navigation system errors, and obtain accurate navigation coordinates

Method used

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  • Small carrier visual navigation method based on Meanshift algorithm
  • Small carrier visual navigation method based on Meanshift algorithm

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Embodiment Construction

[0008] The specific design ideas of the main links are as follows:

[0009] (1) Natural feature extraction and tracking based on Meanshift

[0010] Using the position information of the extracted and tracked target, the position information of the visual sensor is back calculated, which involves the superposition of the position information of different feature points.

[0011] (2) Data Fusion Based on Dynamic Extended Kalman Filter

[0012] Using dynamic extended Kalman filter to fuse visual information to correct measurement error of inertial navigation system. Define the direction angle of the small carrier as (φ, θ, ψ), and the gyro bias as (b p , b q , b r ), the visual information is (φ v , θ v , ψ v ), the system state variable selection x=[φ θ ψ b p b p b r ] l , the observation variable selection [φ v θ v ψ v ], establish the state equation and observation equation of the system, use the dynamic extended Kalman filter recursive equation to estimate t...

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Abstract

The invention belongs to the field of visual navigation, and particularly relates to a small carrier visual navigation method based on a Meanshift algorithm. The small carrier visual navigation method comprises the following steps: realizing characteristic extraction and tracking of a natural road sign by using the Meanshift algorithm, determining a position of a small carrier according to the natural road sign position in an image sequence, and realizing data fusion with an inertial navigation system by using a dynamic extended Kalman filter so as to realize correction of visual navigation information of an error of the inertial navigation system and obtain accurate navigation coordinates. The small carrier visual navigation method is suitable for characteristics of high positioning precision, miniaturization and low cost of medium-small carriers, and has theoretical and practical values.

Description

technical field [0001] The invention belongs to the field of visual navigation, and relates to a small-sized carrier visual navigation method based on a Meanshift algorithm, especially for the requirements of high positioning accuracy, miniaturization and low cost of the small-sized carrier. Background technique [0002] In recent years, various small carriers, such as Unmanned Aerial Vehicle (UAV) and small airborne people, have played an increasingly important role in military and civilian fields. Small carrier navigation equipment requires light weight, low power consumption, long detection distance, and high resolution. The traditional GPS is greatly affected by the environment, and its application in indoor or special environments is limited. The error of inertial navigation increases with time. Growth and accumulation, so other auxiliary navigation methods are needed, and visual navigation has attracted widespread attention due to the small size and light weight of the...

Claims

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Application Information

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IPC IPC(8): G06F19/00G01C25/00G01C21/18
Inventor 成怡
Owner TIANJIN POLYTECHNIC UNIV
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