Unmanned aerial vehicle multi-frame target positioning correcting method based on inter-frame continuity

Abstract

The invention provides an unmanned aerial vehicle multi-frame target positioning correcting method based on inter-frame continuity, and belongs to the technical field of remote sensing image processing. According to the method, aiming at continuous frame aerial image which meets an inter-frame overlapping ratio requirement, a remote measuring parameter provided by an unmanned aerial vehicle is made full use of, the overlapping ratio between adjacent frame images is calculated, when the overlapping ratio is bigger than the set lowest threshold value, according to a coplanarity condition which two corresponding image rays corresponding to a common ground in a sequential frame image satisfies, a constraint condition is established, a relative-absolute positioning method and unmanned aerial vehicle remote measuring information are combined, and the compensation of an attitude information error is achieved. According to the unmanned aerial vehicle multi-frame target positioning correcting method based on the inter-frame continuity, the precision of the first image with a ground control point is maintained to a later image with an overlapped area, so that the later image without the ground control point can still have the high positioning precision; through coarse correction, the iteration frequency is reduced; through integration of the determination of a geometric model and the calculation of the geographic position, the calculated amount is reduced, and the real-time performance of data calculation is achieved.

Description

technical field [0001] The invention belongs to the technical field of remote sensing image processing, and in particular relates to a target positioning and correction method for multi-frame images of an unmanned aerial vehicle based on the continuity between frames. Background technique [0002] With the continuous development of electronic information technology, UAVs have gradually been widely used in military and civilian fields. Among them, an important one is to use drones to target the ground. However, in most cases, due to some objective limitations, such as installation errors and low accuracy of measurement units, the attitude information of UAVs often contains certain errors, resulting in low target positioning accuracy. The freedom of the shooting attitude of the drone often makes the obtained aerial images have certain distortions. This not only affects the intuitive cognition of the detection area, but also has a great impact on subsequent related image proc...

AI Technical Summary

Problems solved by technology

However, due to the limitation of the accuracy of input data such as UAV position and orientation information, the accuracy of target positioning is low.

And, if figure 1 As shown, for the overlapping characteristics of adjacent frames in the aerial photography process of UAV, the above methods do not make good use of this characteristic

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