Combined Navigation Method of Visual Navigation and Inertial Navigation Based on Aircraft
A technology of integrated navigation and inertial navigation, applied in the field of integrated navigation
Inactive Publication Date: 2020-01-07
XIAN UNIV OF SCI & TECH
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And these fields all require quite high accuracy, reliability and autonomy. The existing aircraft navigation methods mostly use GPS navigation, and the outdoor positioning accuracy can reach 1.5 meters, which can meet the needs of general users.
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[0047] Such as Figure 1 to Figure 3 Shown, the combined navigation method of visual navigation and inertial navigation based on aircraft of the present invention comprises the following steps:
[0048] Step 1, establish a two-dimensional plane rectangular picture coordinate system: adopt the aircraft control unit 4 to establish a two-dimensional plane rectangular picture coordinate system, set up a two-dimensional plane rectangular picture coordinate system on the plane where the aircraft is parallel to the horizontal plane and take the starting point of the aircraft flight as the coordinate origin Department O k -x k the y k , where, taking the due east direction of the aircraft as the two-dimensional plane rectangular image coordinate system O k -x k the y k The x-axis of the aircraft takes the true north direction of the aircraft as the two-dimensional plane rectangular image coordinate system O k -x k the y k the y-axis;
[0049] The aircraft is a four-axis aircr...
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The invention discloses a visual navigation and inertial navigation combination navigation method based on an aircraft. The method comprises the following steps: 1, establishing a two-dimensional planar rectangular picture coordinate system; 2, acquiring video image data and aircraft pose data, and preprocessing images; 3, continuously tracking a characteristic point; 4, establishing a three-dimensional flight-path coordinate system; 5, calculating the speed vector of the flight-path; 6, resolving the attitude of the aircraft; 7, fusing data, and calculating the flight-path angle; 8, carrying out coordinate transformation, and acquiring the displacement matrix of the aircraft; and 9,repeating step 3 to step 8 multiple times until the continuous acquisition of the displacement matrix set of the images is completed in order to achieve the continuous combination navigation. The movement flight-path speed vector of the aircraft is obtained through visual navigation, the inertial navigation data is fused, and the error of the visual navigation is compensated and corrected to reconstruct the flight-path of the aircraft, so the aircraft can stably and autonomously fly.
Description
technical field [0001] The invention belongs to the technical field of integrated navigation, and in particular relates to an integrated navigation method based on visual navigation and inertial navigation of an aircraft. Background technique [0002] The aircraft has the advantages of simple mechanical structure, flexible movement, various attitudes, good scalability and easy maintenance, so it plays an increasingly important role in the fields of exploration, surveying and mapping, rescue, and aerial photography. And these fields all require quite high accuracy, reliability and autonomy. The existing aircraft navigation methods mostly use GPS navigation, and the outdoor positioning accuracy can reach 1.5 meters, which can meet the needs of general users. However, on UAVs, the accuracy of ordinary and cheap GPS receivers cannot meet the navigation accuracy of various complex attitudes, and it is difficult to locate in complex environments, such as inside large factories, un...
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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 张传伟陈黎明张东升
Owner XIAN UNIV OF SCI & TECH