System and method for auxiliary guidance and control of UAV based on image registration

Abstract

The invention provides an unmanned aerial vehicle assisted guidance control system and method based on image registration. The system comprises an image sensor, an inertial measurement unit and a processing unit, wherein the processing unit receives measured data from the inertial measurement unit at a first moment and a second moment, and estimates the movement between the first moment and the second moment; the processing unit preprocesses an image obtained at the first moment through different preprocessing methods, and applies the estimate movement to each preprocessed image, so as to obtain a plurality of predicted images; the processing unit compares each predicated image with an image obtained at the second moment, so as to obtain a predicated image the most matched with a second image; and the processing unit corrects measured data from the inertial measurement unit at the second moment through an error between the most matched predicated image and the second image. The system adopts an image configuration method to perform assisted guidance, eliminates an error in inertial measurement unit IMU data, and can obtain more accurate navigation results.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle navigation, and is a navigation filtering method for unmanned aerial vehicle, which applies the image processing method in computer vision, specifically the extended Kalman filtering method of nonlinear system and the image registration method based on intensity The obtained image registration-based UAV auxiliary guidance control system and method. Background technique [0002] A drone's navigation system typically includes an inertial measurement unit (IMU) and GPS. However, the positioning accuracy of GPS is easily affected by the environment, and it cannot work normally in some deep mountains or other environmental interference conditions, which brings many restrictions to the drone's various tasks. A typical inertial measurement unit (IMU) includes multiple gyroscopes and accelerometers, which can be used to measure and solve the attitude angle, position, velocity and directio...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the impact of various drift errors and noise errors of the IMU data during the navigation process of the UAV, and at the same time solve the problem that the IMU cannot be used for independent navigation when the GPS signal is poor, the invention proposes a method based on image registration Auxiliary navigation system to eliminate errors in IMU data and obtain more accurate navigation results

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