Aircraft route planning method and system based on identification point visual navigation and SINS (strap-down inertial navigation system)

Abstract

The invention provides an aircraft route planning method and system based on identification point visual navigation and an SINS (strap-down inertial navigation system). An integrated navigation systemcombining identification point based visual navigation with strap-down inertial navigation is adopted to obtain the route planning of the shortest navigable track for a multi-rotor aircraft in a no-fly zone and other complex terrain environments, and remote control of the multi-rotor aircraft, acquisition of real-time images and flight attitudes and real-time back transmission of positioning information are realized through a ground control system of a PC side; the identification point based visual navigation technology and the inertial navigation technology are used to constitute the integrated navigation system, and accurate positioning of the multi-rotor aircraft is realized. The identification point based visual navigation of the aircraft is realized by comparing relative positions ofidentification points in real-time acquired images and onboard pre-stored reference images, and the aircraft route planning method and system have the advantages of being low in cost, high in accuracy, capable of realizing remote control and applicable to indoor, outdoor, two-dimensional and three-dimensional space environments and the like. Tests prove that the accuracy of the route planning system and method reaches + / -10 cm.

Description

Technical field [0001] The invention relates to the technical fields of control engineering technology, navigation technology, positioning technology and path planning, in particular to an aircraft path planning method and system based on marking point visual navigation and SINS. Background technique [0002] In the fields of mobile robots and aircraft, transportation networks, 3D path planning and dynamic shortest path problems, path planning is a hot topic, and its technical basis is precise positioning. At present, Inertial Navigation System (INS), Global Positioning System (GPS) and visual navigation are the most widely used navigation systems. INS is an autonomous navigation system that uses inertial sensors (gyro and accelerometer), reference azimuth, and initial position information to determine the carrier’s position, position, and speed. It is usually divided into Platform Inertial Navigation System (PINS) and Czechoslovakia. There are two types of Strap-down Inertial N...

AI Technical Summary

Problems solved by technology

[0003] Traditional path planning methods such as dynamic programming, A* algorithm, etc. need to search the entire flight space, and the effect of parallel processing is poor; algorithms such as Voronoi diagram, simulated annealing algorithm, genetic algorithm and neural network cannot adapt to the dynamic changes of the optimization target, and the path planning time Long, often used in offline mode

The currently commonly used path planning methods have different defects in robustness, processing speed, real-time performance and stability, and many algorithms cannot be extended to real-time 3D path planning

In addition, in the path planning method based on vision, if the target point of the aircraft is lost during the flight, it will usually not be able to fly according to the planned path.

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