Unmanned reconnaissance aerial vehicle synchronous positioning and picture compositing method based on self-adaption EKF

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned reconnaissance aerial vehicle synchronous positioning and picture compositing method based on a self-adaption EKF. By means of the method, a graph model, a coordinative system, a feature model, an unmanned reconnaissance aerial vehicle movement model and a sensor measurement model of an unmanned reconnaissance aerial vehicle synchronous positioning and picture compositing system are established. Synchronous positioning of the unmanned reconnaissance aerial vehicle and design of a map establishment method frame are achieved through the EKF. The problems that due to the establishment inaccuracy of the unmanned reconnaissance aerial vehicle movement model and an observation model and the linearization of non-linear models, the models are not matched are researched. The uncertainty caused by establishment inaccuracy and linearization errors of the models is modeled into process noise and observation noise of the system with a time-varying mean and a covariance matrix, and the synchronous positioning and picture compositing method based on the self-adaption EKF with a time-varying noise estimator is designed. Statistical features of the process noise and observation of the system are estimated in real time and modified, and therefore model uncertainty is reduced and the estimation progress is improved.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a method for synchronous positioning and composition of unmanned reconnaissance aircraft based on self-adaptive EKF. Background technique [0002] In modern warfare, the battlefield environment is complex, and timely grasp of the battlefield situation plays a decisive role in winning the war. The unmanned reconnaissance aircraft emerged as the times require. It can sneak into the sky over the enemy area for reconnaissance, and provide real-time images and information of the enemy area for the combat command center, so that the commander can grasp the enemy's situation in time, and then formulate a reasonable combat plan. Among them, the small unmanned reconnaissance aircraft has become a research hotspot due to its small size, light weight, low cost, and no casualties. Unmanned reconnaissance drones are required to have the characteristics of long ba...

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Problems solved by technology

[0008] The technical problem to be solved in the present invention is: how to combine the adaptive filtering method with the SLAM method to solve the problems of accumulated...

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