A real-time online map generation method for UAV

Abstract

The invention puts forward a real-time on-line map generation method of an unmanned aerial vehicle. The real-time on-line reconstruction of the map is realized on the unmanned aerial vehicle, then, a reconstructed map is transmitted back to the ground through a high-bandwidth data transmission link, and the method is applied to the unmanned aerial vehicle to obtain a three-dimensional map of the surrounding environment of the unmanned aerial vehicle in real time and realize the positioning of the unmanned aerial vehicle. Through the method, the unmanned aerial vehicle can fly in an unknown airspace, environment information is probed and compared under a condition that the own position of the unmanned aerial vehicle is uncertain to extract and match the characteristic information of the environment so as to obtain the own positioning and carry out three-dimensional map construction. The real-time on-line map generation method can be applied to battlefield demands (such as the autonomous flight and attack of the unmanned aerial vehicle), the emergency rescue of disasters including fire hazards / earthquakes / floods and the like, the security administration monitoring of the unmanned aerial vehicle and the like. Compared with the existing method, the method disclosed by the invention is characterized in that a position drift distance, an angle drift distance and an absolute error are all in an upper level. By use of the method, more environment information is obtained. In addition, compared with a totally dense method, the method disclosed by the invention is characterized in that the experiment accuracy of the method still can achieve a use standard, and the method can be directly operated on a CPU (Central Processing Unit) and is high in instantaneity.

Description

technical field [0001] The invention relates to the fields of computer image processing and map surveying, and specifically relates to a method for generating a real-time online map of an unmanned aerial vehicle. By changing the transmission mode of the unmanned aerial vehicle and a ground station, the real-time online map generation of the unmanned aerial vehicle is realized. Background technique [0002] Traditional surveying and mapping technology uses the feature points and boundaries of the ground to obtain graphics and position information reflecting the current status of the ground through measurement means (such as remote sensing, laser, ultrasonic, etc.). Traditional surveying and mapping technology has high requirements for sensors. Although its surveying and mapping accuracy is high, the high cost and the long time required from information collection to results have restricted the application of traditional surveying and mapping in some occasions (such as relative...

AI Technical Summary

Problems solved by technology

[0004] 1. A large number of images are repeated and redundant;

[0005] 2. The transmission speed is very high, resulting in a small transmission distance, and it is difficult to transmit the image back to the ground station;

[0006] 3. The transmission signal is susceptible to interference

[0007] 4. The aircraft cannot make decisions and fly automatically

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