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
CN113296139AActive Publication Date: 2021-08-24GUILIN UNIV OF ELECTRONIC TECH
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
GUILIN UNIV OF ELECTRONIC TECH
Publication Date
2021-08-24

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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.
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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

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