Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Adaptive image optical flow and RTK fusion attitude determination method

An image light and self-adaptive technology, which is applied in the direction of measuring devices, surveying and navigation, radio wave measurement systems, etc., can solve the problems of image optical flow and attitude measurement system accumulation errors, etc., to suppress error accumulation, improve accuracy, and enhance stability and attitude measurement accuracy

Active Publication Date: 2021-08-24
GUILIN UNIV OF ELECTRONIC TECH
View PDF11 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] What the present invention aims to solve is that there is still a certain gap in the accuracy of the traditional RTK attitude measurement system compared with the precision inertial navigation system, and it is not suitable for the occasions where satellite signals are blocked, and the image optical flow attitude measurement system has cumulative errors during operation. For the problem of real-time correction of errors, an adaptive image optical flow and RTK fusion attitude measurement method is proposed

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Adaptive image optical flow and RTK fusion attitude determination method
  • Adaptive image optical flow and RTK fusion attitude determination method
  • Adaptive image optical flow and RTK fusion attitude determination method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0061] 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 specific examples.

[0062] see figure 1 , an adaptive image optical flow and RTK fusion attitude measurement method, which specifically includes the following steps:

[0063] Step 1: Use an RTK attitude measurement system with more than three GNSS antennas to calculate the attitude of the carrier, and obtain the attitude angle of the carrier at each moment, which includes the roll angle r, pitch angle p, and heading angle y of the carrier.

[0064] Step 2: First obtain images at each moment from the camera fixed on the carrier; then preprocess the images at each moment, and use the SURF (Speed ​​Up Robust Features, robust feature points for accelerated solution) method to obtain images at each moment After that, the coordinates of the feature points of the images at the front and back momen...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an adaptive image optical flow and RTK fusion attitude determination method. Image optical flow attitude measurement data and RTK attitude measurement data are fused by using adaptive Kalman filtering, so that error accumulation of image optical flow attitude measurement is effectively inhibited; and the image optical flow attitude measurement system is used for assisting RTK attitude measurement, so that the stability of the system and the attitude measurement precision are enhanced. By using a contrast-limited histogram equalization processing method, a cost function-based outlier elimination method and an improved optical flow motion equation, the precision of system attitude measurement is effectively improved.

Description

technical field [0001] The invention relates to the technical field of attitude measurement and direction measurement, in particular to an attitude measurement method for fusion of adaptive image optical flow and RTK. Background technique [0002] The attitude measurement of the carrier is one of the important technical applications of GNSS. This method can provide the attitude information of the carrier in real time. Using the RTK attitude measurement technology, the heading angle, roll angle and pitch angle of the carrier can be calculated. Although the errors generated by the RTK attitude measurement system will not accumulate over time, the measurement accuracy of this method is poor due to the limitation of the actual observation environment. Although the image optical flow attitude measurement system has strong autonomy and is free from external interference when working, the image optical flow attitude measurement system uses a relative measurement method, which has t...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G01S19/54G01S19/39G01C21/00
CPCG01S19/54G01S19/393G01C21/005
Inventor 王守华黄涛孙希延纪元法付文涛邓洪高
Owner GUILIN UNIV OF ELECTRONIC TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com