Navigation method based on satellite navigation and vision navigation and application thereof

Abstract

The invention discloses a navigation method based on satellite navigation and vision navigation and an application thereof. According to the invention, a satellite navigation system is used for carrying out coarse adjustment on a course object and a vision navigation system is used for carrying out fine adjustment on the course object so that the course object is allowed to walk along the moving central line, wherein the satellite navigation system carries out low-frequency large-scale adjustment on the course, and the vision navigation system carries out high-frequency small-scale adjustmenton the course. According to the invention, through the combined navigation method based on satellite navigation and vision navigation, problems of low precision, instability and delayed performance ofGNSS navigation and position deviation of vision navigation in a complex illumination environment are solved, so stability of a navigation system is improved; precise positioning and autonomous navigation of the course object in the outdoor environment can be achieved; and the navigation method can be well applied to agricultural machine precise working in a crop growth process.

Description

technical field [0001] The invention relates to a navigation method, in particular to a navigation method based on satellite navigation and visual navigation and its application, and belongs to the technical field of navigation and positioning. Background technique [0002] With the development of science and technology, real-time navigation and positioning technology is widely used in various fields of production and life (such as: intelligent transportation, precision agriculture, machinery control, etc.). The positioning technology in the existing technology includes the traditional global satellite navigation system GNSS and visual positioning. On the one hand, the global satellite navigation system GNSS can meet the basic positioning needs of users under the condition of less environmental impact. In the city, various obstacles block the navigation signal, which leads to the attenuation of the navigation signal and the decline of the navigation accuracy. At the same tim...

AI Technical Summary

Problems solved by technology

The positioning technology in the prior art includes the traditional global satellite navigation system GNSS and visual positioning. On the one hand, the global satellite navigation system GNSS can meet the basic positioning needs of users under the condition of less environmental impact, but in the complex environment of agriculture and In the city, various obstacles block the navigation signal, leading to the attenuation of the navigation signal and the decrease of navigation accuracy. At the same time, due to the existence of obstacles, the number of satellites visible to the GNSS receiver changes greatly, and it is necessary to continuously re-receive the ephemeris of the visible satellites, so that Affects the timeliness of navigation; on the other hand, visual positioning uses visible light to collect image information, which is collected by cameras in the existing technology. Consumer-grade cameras exist in mobile phones and digital cameras, which are convenient and quick to apply and have a high cost-effective navigation system. , however, due to the uncertainty of the environment (such as lighting) and vehicle status, it is impossible to collect clear image information in real time

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