An accurate registration method for airborne enhanced synthetic visual virtual and real images based on visual inertial integration

Abstract

The present disclosure provides an accurate registration method for airborne enhanced synthetic visual virtual and real images based on visual inertial integration. The method includes a visual feature extraction process, a visual inertial fusion process and a virtual and real image registration process. The visual feature extraction process comprises the following steps: receiving pose parametersoutput by an inertial measurement unit, acquiring a 2D image, extracting a runway region from the 2D image, detecting a straight line in the runway region, and extracting a runway edge line; The process of visual inertial fusion includes: defining system state, establishing inertial error transfer equation, obtaining measurement information, nonlinear Kalman filter, modifying pose parameters; Theregistration process of the virtual and real images includes: driving the 3D terrain engine with the modified pose parameters to generate 3D synthetic view, and superimposing the 2D image on the 3D synthetic view to realize the registration of the virtual and real images.

Description

technical field [0001] The invention belongs to the field of computers, and in particular relates to a method for precise registration of virtual and real images of an airborne enhanced synthetic scene based on visual-inertial combination. Background technique [0002] Airborne enhanced synthetic vision is an auxiliary navigation method that can effectively improve the pilot's situational awareness. At present, airborne enhanced synthetic vision relies on the assistance of airborne high-precision inertial navigation equipment and ground-based augmentation facilities to ensure enhanced vision and synthetic vision. Scene registration, with high hardware costs, is only applied to large aircraft and high-end business jets, and operates in North America with LAAS support. [0003] Aiming at the defects of the existing airborne enhanced synthetic vision technology, the present invention proposes a precise virtual-real image registration method based on forward-looking infrared ima...

AI Technical Summary

Problems solved by technology

[0002]Airborne enhanced synthetic vision is an auxiliary navigation method that can effectively improve the pilot's situational awareness. At present, airborne enhanced synthetic vision relies on airborne high-precision inertial The assistance of navigation equipment and ground-based augmentation facilities to ensure the registration of enhanced vision and synthetic vision, the hardware cost is high, it is only used in large aircraft and high-end business jets, and it operates in North America with LAAS support

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