Target locating method of miniature drone full-strapdown down looking camera

Abstract

The invention discloses a target locating method of a miniature drone full-strapdown down looking camera. The target locating method comprises the step that the camera focal length is calculated through the camera field angle and the width of a camera square pixel array, then the distance length from the pixel position to the origin of coordinates is obtained through the camera focal length and the position of a target on the pixel array, the unit coordinate vector of the target in the camera coordinate system is obtained through the distance length from the pixel position to the origin of coordinates and the position of the target on the pixel array, the relative distance from the target to a drone is obtained through estimation in combination with a Kalman filter algorithm, the relationbetween geographic position information of the target and the relative distance from the target to the drone is obtained through coordinate conversion, and geographic position information of the target is calculated through the distance from the target to the drone, the drone position information amount obtained through measurement of a satellite navigation system and the unit coordinate vector ofthe target in the camera coordinate system. By means of the target locating method, the high locating precision can be obtained, and part of measurement errors can be removed.

Description

technical field [0001] The invention belongs to the technical field of aircraft navigation, guidance and control, and more specifically relates to a target positioning method for a strapdown-down camera of a miniature unmanned aerial vehicle. Background technique [0002] As a new type of combat equipment with significant information characteristics, micro-UAVs have become an indispensable and important combat force in local wars and military operations. Successful application provides a good platform for low-altitude or short-distance reconnaissance and surveillance, and has broad military and civilian prospects. [0003] Reconnaissance and surveillance, attack interference, etc. are the main functions of military micro-UAVs, which are inseparable from the positioning of ground targets by UAVs. At present, UAV positioning and navigation mainly use the following three positioning technologies: 1. Inertial Navigation System (INS), which determines the acceleration of the UAV...

AI Technical Summary

Problems solved by technology

However, in the traditional airborne platform-mounted follow-up camera visual navigation positioning method, the camera is relatively large in size and quality, and the cost is high; Overload requirements; at the same time, there is noise in the measurement of GPS and airborne inertial navigation devices, resulting in errors in positioning

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