Unmanned aerial vehicle vision-inertia fusion indoor positioning method

An indoor positioning and unmanned aerial vehicle technology, which is applied in the directions of measuring devices, instruments, surveying and mapping and navigation

Pending Publication Date: 2020-04-17
CHINESE AERONAUTICAL RADIO ELECTRONICS RES INST
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Problems solved by technology

[0003] In view of the above problems, the object of the present invention is to provide a visual-inertial fusion indoor positioning method for unmanned aeri

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[0037] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0038] The invention provides a visual-inertial fusion indoor positioning method for drones, which fuses a binocular vision sensor and an IMU in a tightly coupled manner. Use the binocular parallax method to obtain the scale information of the feature points; use the pyramid LK optical flow algorithm to track the feature points; use the RANSAC (random sampling consistency) algorithm to eliminate the feature points that do not match; Data synchronization; build a sliding window, select and marginalize key frames, and use graph optimization to estimate the UAV's position, attitude, speed, gravity dir...

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Abstract

The invention belongs to the technical field of unmanned aerial vehicle navigation indoor positioning, and discloses an unmanned aerial vehicle vision-inertia fusion indoor positioning method. The method comprises steps of obtaining scale information of the feature points by using a binocular parallax method; tracking the feature points by using a pyramid LK optical flow algorithm; removing the feature points which are mismatched; pre-integrating inertial measurement data, and keeping data synchronization between sensors; and constructing a sliding window, carrying out selection and marginalization management on the key frame, and estimating the position, attitude, speed and gravity direction of the unmanned aerial vehicle and the drift of an inertial device by adopting a graph optimization mode. Finally, the functions of indoor positioning of the unmanned aerial vehicle in the dynamic environment and closed-loop detection and re-indoor positioning of the reached position are designed,and the precision and robustness of indoor positioning of the unmanned aerial vehicle are effectively improved.

Description

technical field [0001] The invention belongs to the technical field of drone navigation indoor positioning, and in particular relates to a vision-inertial fusion indoor positioning method for drones. Background technique [0002] When the UAV performs indoor positioning, the signal is affected by factors such as buildings, resulting in low indoor positioning accuracy of satellites; the inertial sensor has drift errors, and the use of integral calculations makes errors accumulate under long-term work; although the indoor positioning accuracy of lidar is high , but not widely used due to its high price. Contents of the invention [0003] In view of the above problems, the purpose of the present invention is to provide a visual-inertial fusion indoor positioning method for unmanned aerial vehicles, which solves the problem of indoor positioning and attitude determination of unmanned aerial vehicles in the absence of satellite indoor positioning. [0004] To achieve the above...

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/206Y02T10/40
Inventor 侯建永魏春燕金古烃
Owner CHINESE AERONAUTICAL RADIO ELECTRONICS RES INST
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