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
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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 sate

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  • 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

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[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...

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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...

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Application Information

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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
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