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An adaptive image optical flow and rtk fusion attitude measurement method

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

Active Publication Date: 2022-05-03
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 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

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  • An adaptive image optical flow and rtk fusion attitude measurement method
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  • An adaptive image optical flow and rtk fusion attitude measurement 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 measurement method, which effectively suppresses error accumulation of image optical flow attitude measurement by using adaptive Kalman filter to fuse image optical flow attitude measurement data and RTK attitude measurement data, and The image optical flow attitude measurement system is used to assist RTK attitude measurement, which enhances the stability of the system and the accuracy of attitude measurement. By using a contrast-limited histogram equalization method, a cost function-based outlier removal method, and an improved optical flow equation of motion, the accuracy of the system's 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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Patent Type & Authority Patents(China)
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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