Aircraft Position Determination Method Based on Recovering Structure from Motion

Abstract

The invention discloses a method for determining the position of an aircraft based on a structure recovered from motion. First, use the imaging device to continuously image the terrain under the flight track to obtain a motion sequence image; then restore the real-time three-dimensional topographic map based on the motion sequence image and obtain the space of each point on the real-time three-dimensional topographic map under the attitude coordinate system of the aircraft body 3D coordinates. Secondly, the spatial three-dimensional coordinates of each point on the real-time three-dimensional topographic map in the aircraft body attitude coordinate system are transformed into the aircraft parallel coordinate system. Transforming the space three-dimensional coordinates of each point on the real-time three-dimensional topographic map under the parallel coordinate system of the aircraft into the ground reference topographic coordinate system, and finally reversely solving the position of the aircraft under the ground reference topographic coordinate system. The method for determining the position of the aircraft based on the structure recovered from motion can accurately measure the position of the aircraft with low cost and low energy consumption.

Description

technical field [0001] The invention relates to the field of aerospace technology, in particular to a method for determining the position of an aircraft based on a structure recovered from motion. Background technique [0002] During the navigation and control process of spacecraft, UAV and other aircraft, the position and attitude of the aircraft are the key information for safe flight and mission execution. The commonly used methods for determining the flight position and attitude of an aircraft include methods based on inertial navigation, GPS-based navigation, and laser terrain measurement and scene matching navigation. [0003] The inertial navigation method uses navigation sensors such as accelerometers and gyroscopes to measure motion information. This method uses the real-time acceleration measurement of the accelerometer and performs integral calculations to obtain position and attitude information during the flight. There are the following disadvantages: the use o...

AI Technical Summary

Problems solved by technology

There are the following disadvantages: using integral calculations to determine the pose, there is a problem of accumulating errors, especially in long-term applications, the accumulation of errors is large, and it is often necessary to use other accurate positioning methods to correct the calculation results of inertial navigation

There are the following disadvantages: because GPS satellite signals are provided by foreign navigation satellites, high-precision data are usually not available, so the accuracy of calculation results is poor, and whether the signals can be obtained normally is also subject to people; because the reception of GPS satellite signals is limited by the "line of sight" of satellites in orbit Due to the influence of occlusion, the accuracy and update frequency of the position information calculated by the GPS navigation method will decrease

There are the following disadvantages: the laser altimeter is a special equipment with high energy consumption, and this kind of precision instrument is expensive and difficult to install and use on general aircraft. This kind of one-dimensional matching navigation is suitable for flying in hilly terrain

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