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Inertial vision integrated navigation positioning method based on different-source image matching and aircraft

A technology that combines navigation and heterogenous images, which is applied in the field of computer vision research and can solve the problem that heterogenous images are difficult to achieve accurate and stable matching.

Active Publication Date: 2021-11-09
BEIJING AUTOMATION CONTROL EQUIP INST
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Problems solved by technology

[0003] The invention provides an inertial vision combined navigation and positioning method based on heterogeneous image matching and an aircraft, which can solve the technical problem that it is difficult to achieve accurate and stable matching between heterogeneous images in the prior art

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  • Inertial vision integrated navigation positioning method based on different-source image matching and aircraft

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[0025] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0026] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit t...

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Abstract

The invention provides an inertial vision integrated navigation positioning method based on different-source image matching and an aircraft, and the method comprises the following steps: respectively carrying out orthoimage correction on a real-time image and a reference image, and unifying the scaling sizes of the real-time image and the reference image; respectively obtaining a first projection and a quantized gradient direction histogram of the real-time image and a second projection and a quantized gradient direction histogram of the reference image; detecting the similarity between the first projection and the quantized gradient direction histogram and between the second projection and the quantized gradient direction histogram, and taking the position of the maximum Hamming distance between the second projection and the first projection and the quantized gradient direction histogram as the image matching position of the real-time image in the reference image; and converting the image matching position to the position of the unmanned aerial vehicle as an observed quantity, and constructing a Kalman filter based on the observed quantity to realize inertial vision integrated navigation positioning of the unmanned aerial vehicle. By applying the technical scheme of the invention, the technical problem that accurate and stable matching between different-source images is difficult to realize in the prior art is solved.

Description

technical field [0001] The invention relates to the technical field of computer vision research, in particular to an inertial vision integrated navigation positioning method based on heterogeneous image matching and an aircraft. Background technique [0002] The reference images used for image matching are visible light satellite images, real-time Figure 1 Generally, infrared images that can work around the clock are used, which is a typical heterogeneous image matching technology. Different from the matching of homologous images, due to the different imaging mechanisms of heterogeneous images, the images captured in the same scene will be very different, so special processing is required for heterogeneous image matching. At the same time, as the flight attitude of the aircraft changes, the real-time image taken by the camera is not looking directly down, and there are geometric transformations such as scale, rotation, affine, and perspective between the real-time image and...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/00G01C21/16
CPCG01C21/20G01C21/005G01C21/1652G01C21/1656
Inventor 尚克军扈光锋裴新凯段昊雨明丽王大元庄广琛刘崇亮王海军
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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