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A Landscape Matching and Positioning Method for Unmanned Aerial Vehicles Considering Elevation

A positioning method and machine landscape technology, applied in the field of photogrammetry research, can solve problems such as the inability to realize real-time positioning and calculation of UAV plane coordinates and elevation coordinates

Active Publication Date: 2021-06-04
WUHAN UNIV
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the existing scene matching and positioning only focus on two-dimensional coordinates, and cannot realize the real-time positioning and calculation of UAV plane coordinates and elevation coordinates

Method used

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  • A Landscape Matching and Positioning Method for Unmanned Aerial Vehicles Considering Elevation
  • A Landscape Matching and Positioning Method for Unmanned Aerial Vehicles Considering Elevation

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Embodiment Construction

[0025] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0026] The embodiment of the present invention realizes the positioning of the UAV taking into account the elevation based on landscape matching. First, the base map data containing elevation data is prepared, and then landscape matching is performed with the base map data to obtain the 3D coordinates corresponding to the points in the real-time image. Finally, the 3D position of the UAV is calculated through spatial resection. The flow of the embodiment is as figure 1 shown, including the following steps:

[0027] 1. Construct the regional spatial relationship in the benchmark image and the real-time image respectively.

[0028] During specific implementation, a reference image can be preset as a base map, such as a high-resolution remote sensing image of the same area, or an ortho-spliced ​​image of a UAV image. In the ...

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Abstract

The present invention provides a method for landscape matching and positioning of UAVs that takes into account the elevation, including constructing the reference image and the regional spatial relationship in the real-time image taken by the UAV, and obtaining the corresponding triangle set. The reference image is registered, and the figure Each point in has three-dimensional coordinates; according to the determination theorem of similar triangles, based on the triangle set of the reference image and the triangle set of the real-time image, the rough matching of the similar spatial relationship is carried out, and then the false is removed according to the consistency of the area ratio and the consistency of the rotation angle. Match the triangle pairs to get the correctly matched triangle pairs; based on the correctly matched triangle pairs, obtain the pixel coordinates of the feature points and the corresponding plane and elevation coordinates in the real-time images taken by the drone, so as to solve the three-dimensional coordinates of the drone, Realize the three-dimensional positioning and navigation taking into account the elevation. The present invention makes full use of the spatial position relationship existing in the image for matching, takes into account the elevation information of the drone, and obtains three-dimensional positioning coordinates.

Description

technical field [0001] The invention belongs to the technical field of photogrammetry research, and in particular relates to a positioning method for an unmanned aerial vehicle. Background technique [0002] In recent years, due to the advantages of low cost, convenient take-off and landing, flexible operation, and strong mobility, UAV images have the advantages of high resolution, clear and rich texture, high overlap, and large scale and small area. Widely used in various mapping and non-mapping fields, such as natural resource management and detection, land use dynamic monitoring, road monitoring, forestry pasture detection, transportation, military and other fields. [0003] Traditionally, the navigation and positioning data of UAVs mainly rely on inertial navigation or satellite guidance equipment. Inertial guidance can realize completely autonomous navigation that does not rely on external information. It has good concealment, is not affected by external interference a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C11/34G01C21/20
CPCG01C11/34G01C21/20
Inventor 唐炉亮裴晨旭刘宇
Owner WUHAN UNIV