Aircraft monocular visual scale estimation method and device, aircraft navigation system and aircraft

Abstract

The present disclosure proposes an aircraft monocular visual scale estimation method and device, an aircraft navigation system and an aircraft, and relates to the technical field of aircrafts. The aircraft monocular visual scale estimation method of the present disclosure includes the steps of: acquiring a current flight height estimated value; and detecting, based on the detected data of a vertically downward detecting distance detection sensor and the detected data of an inertial measuring unit (IMU) when the flight height estimated value is less than a predetermined height, a monocular visual scale value. In this way, when the flight height of the aircraft is less than the predetermined height, the distance detecting sensor and the IMU can obtain the monocular visual scale value in cooperation. On the one hand, manual intervention is not required and the degree of automation is improved, on the other hand, the advantages of the distance detection sensor and the IMU can be integratedin order to reduce errors caused bya single measurement method and improve the accuracy of scale estimation.

Description

technical field [0001] The present disclosure relates to the field of aircraft technology, in particular to an aircraft monocular vision scale estimation method and device, an aircraft navigation system, and an aircraft. Background technique [0002] Accurate pose estimation is critical for autonomous flight control of aircraft such as small rotorcraft. At present, most aircraft use GNSS (Global Navigation Satellite System, Global Satellite Navigation System) and IMU (Inertial Measurement Unit, Inertial Measurement Unit) for pose estimation, but it cannot work normally when the GNSS signal strength and accuracy are not good. , through visual SLAM (Simultaneous Localization and Mapping, real-time positioning and map construction) for pose estimation, it can solve the problem of pose estimation of the aircraft when satellite signals cannot be obtained. [0003] For monocular vision SLAM, monocular vision scale estimation is the prerequisite for accurate pose estimation. At pr...

AI Technical Summary

Problems solved by technology

Many scholars have conducted research in this area. For example, the classic algorithm PTAM (Parallel Tracking and Mapping, Tracking and Drawing) in monocular vision SLAM uses artificial operations to estimate the scale, and translates and fixes along the coordinate axis during its initialization process. The distance is used to estimate the scale through this known distance, but such a method requires manual initialization with human intervention, and cannot achieve complete autonomy

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