Vehicle autonomous navigation method based on image matching/inertial navigation/odometer

An autonomous navigation and odometer technology, applied in the field of positioning and navigation, which can solve the problems of low accuracy and limited application scenarios.

Active Publication Date: 2020-07-17
CENT SOUTH UNIV
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Problems solved by technology

[0008] The purpose of the present invention is to provide a vehicle autonomous navigation method based on image matching/inertial navigation/o

Method used

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  • Vehicle autonomous navigation method based on image matching/inertial navigation/odometer

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Embodiment 1

[0073] see Figure 1 ~ Figure 4 , a vehicle autonomous navigation method based on image matching / inertial navigation / odometer, comprising the following steps:

[0074] Step 1: Configure an unmanned aerial vehicle equipped with a ground camera on the ground vehicle that needs to be positioned;

[0075] Step 2: Start the vehicle-mounted inertial navigation / odometer integrated navigation system, and the driver will judge whether the UAV has the conditions for take-off when the vehicle is in motion;

[0076] Step 3: If the take-off conditions are met, the UAV (unmanned aerial vehicle) will take off autonomously and track the vehicle autonomously. At the same time, it will take pictures of the ground and use the captured real-time image to match the reference map made in advance to realize the positioning of the ground vehicle;

[0077] Step 4: After obtaining the positioning result, send it to the vehicle navigation computer for data fusion;

[0078] Step 5: After obtaining the ...

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Abstract

The invention provides a vehicle autonomous navigation method based on image matching/inertial navigation/odometer. An unmanned aerial vehicle equipped with a ground shooting camera is arranged on a ground vehicle needing to be positioned; a vehicle-mounted inertial navigation/odometer integrated navigation system is started, and whether the unmanned aerial vehicle has a take-off condition or notis judged by a driver under a motion condition of the vehicle; if the UAV has the take-off condition, the UAV takes off autonomously and tracks the vehicle autonomously, photographs the ground and realizes positioning of the ground vehicle by matching the photographed real-time image with a reference image made in advance; a positioning result is obtained and then sent to the vehicle navigation computer for data fusion; and after a vehicle positioning result is obtained, the unmanned aerial vehicle autonomously lands and returns to the vehicle. The invention provides a new navigation scheme, an unmanned aerial vehicle is used for carrying an aerial camera, template matching is carried out on a real-time aerial image and a reference image library, so that geographic coordinates of a vehiclein the real-time aerial image are determined, and an integrated navigation error of an inertial navigation/odometer is corrected according to a matching positioning result.

Description

technical field [0001] The invention relates to the technical field of positioning and navigation, in particular to a vehicle autonomous navigation method based on image matching / inertial navigation / odometer. Background technique [0002] The commonly used method for vehicle positioning is a navigation method based on the fusion of satellite navigation (GNSS) and inertial navigation (INS). The disadvantage of this navigation method is that when the GNSS signal is interfered, blocked or spoofed, the navigation performance of the integrated navigation system will be significantly reduced, which cannot meet the needs of vehicle navigation. With the development of intelligent technology, the demand for autonomous navigation technology that does not rely on external information is increasing. Typical applications include unmanned vehicles and military special vehicles. It can be expected that unmanned vehicles will be widely used in the fields of logistics, personnel transportat...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/34
CPCG01C21/165G01C21/3415
Inventor 韩松来罗世林芦佳振罗世彬
Owner CENT SOUTH UNIV
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