Unmanned aerial vehicle visual navigation positioning method based on laser ray assistance

A technology of visual navigation and positioning method, which is applied in the field of visual navigation and can solve the problems that the processor cannot run in real time, the price of lidar is expensive, and the volume of lidar is large.
CN110887486AActive Publication Date: 2020-03-17NANJING UNIV OF AERONAUTICS & ASTRONAUTICS +1
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Patent Information

Authority / Receiving Office
CN Β· China
Current Assignee / Owner
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Publication Date
2020-03-17

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Abstract

The invention discloses an unmanned aerial vehicle visual navigation positioning method based on laser ray assistance. The unmanned aerial vehicle visual navigation positioning method comprises the steps of utilizing a laser emitter to emit laser rays in a regular shape, projecting the laser rays onto the surface of a building, observing the laser rays by means of a binocular vision sensor carriedon an unmanned aerial vehicle, and carrying out visual navigation by taking the laser rays as characteristics, thereby providing navigation information for the unmanned aerial vehicle. A traditionalvisual navigation method has high requirements for environment features and light rays, and the unmanned aerial vehicle visual navigation positioning method can improve visual navigation precision inthe environment with sparse features and dark light rays in a laser ray assisting mode.
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Description

technical field

[0001] The invention relates to a laser line-assisted visual navigation and positioning method for an unmanned aerial vehicle, belonging to the technical field of visual navigation. Background technique

[0002] Generally, the most common way for UAVs to navigate and locate in environments with sparse features and dark light is to estimate the navigation information of UAVs based on the data of accelerometers and gyroscopes based on inertial sensors. However, the error of the inertial navigation system will Accumulated over time, navigation accuracy can become poor after long hours of work.

[0003] In order to solve the above problems, there are three existing improved navigation and positioning methods for UAVs in sparsely featured and dark environments:

[0004] Method 1: Add a Global Navigation Satellite System (Global Navigation Satellite System, GNSS) module to the UAV, and use the high positioning accuracy of GNSS to correct the error of the inertial ...

Claims

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