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Homography estimation and extended Kalman filter based localization method for unmanned aerial vehicle (UAV)

An extended Kalman and unmanned aerial vehicle technology, which is applied in calculation, photo interpretation, image data processing, etc., can solve the problems of increasing cumulative error of position estimation and inaccurate position parameter estimation results, so as to improve the accuracy of position estimation, The effect of improving accuracy

Inactive Publication Date: 2016-06-29
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

In general, the calculation of the homography between images can estimate the position of the UAV in real time. However, as time increases, the cumulative error of the traditional static image stitching method for position estimation will inevitably increase. Location parameter estimates are inaccurate

Method used

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  • Homography estimation and extended Kalman filter based localization method for unmanned aerial vehicle (UAV)
  • Homography estimation and extended Kalman filter based localization method for unmanned aerial vehicle (UAV)
  • Homography estimation and extended Kalman filter based localization method for unmanned aerial vehicle (UAV)

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Embodiment Construction

[0037] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0038] The present invention mainly includes two core parts: A, estimation of homography matrix and description of estimation uncertainty. B. Position estimation based on extended Kalman filter. Its implementation steps are as follows:

[0039] Step 1, robust estimation of the homography matrix;

[0040]Step 2, the description of the estimation uncertainty of the homography matrix;

[0041] Step 3, motion estimation based on homography;

[0042] Step 4, update the image mosaic database;

[0043] Step 5, position estimation based on extended Kalman filter.

[0044] The specific embodiment process is as follows figure 1 shown.

[0045] 1. Robust estimation of homography matrix

[0046] In homogeneous coordinates, any homography can be expressed as the following reversible linear transformation:

[0047]

[0048] Among them, H is the homography matrix, [...

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Abstract

The invention relates to a homography estimation and extended Kalman filter based localization method for a UAV. Online image splicing is used to eliminate an accumulative error of position estimation of the UAV, an environment map is constructed in real time, and the accuracy of position parameter estimation of the UAV can be effectively improved. According to the method, online image splicing is used to eliminate the accumulative error of position estimation of the UAV, accurate estimation for the UAV position parameter is realized on the basis of robust estimation for an image inter-frame homography matrix by considering the homographic relation and indeterminacy among images, extended Kalman filter is used to predict and update a UAV position estimation result, and the UAV position estimation precision is improved substantially.

Description

technical field [0001] The invention belongs to a UAV position estimation method, and relates to a UAV position estimation method based on homography estimation and extended Kalman filter (AHomographyEstimaitonandExtendedKalmanFilter-basedLocalizationMethodforUnmannedAerialVehicle, HE-EKF-LM) method, which can eliminate the UAV position Estimated cumulative errors, and real-time construction of environmental maps, to achieve precise estimation of UAV position parameters. Background technique [0002] In the field of UAV visual navigation, UAV position estimation and environment composition are very important. The estimation of UAV position parameters is the core of realizing autonomous navigation. Researching reliable and high-precision visual position estimation methods is the key to improving UAV position. It is an important means of parameter estimation accuracy and has important theoretical significance and application value. [0003] Online image stitching technology, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/20G06T7/00G06T3/40G01C11/06
CPCG06T3/4038G01C11/06G06T2207/10016
Inventor 潘泉靳珍璐赵春晖魏妍妍王荣志
Owner NORTHWESTERN POLYTECHNICAL UNIV
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