Geodetic coordinate system and slam coordinate system alignment method
A geodetic coordinate system and coordinate system technology, applied in satellite radio beacon positioning systems, radio wave measurement systems, instruments, etc., to achieve precise accuracy, reduce the probability of accidents, and reduce the effects of cumulative errors
Active Publication Date: 2022-07-29
NO 54 INST OF CHINA ELECTRONICS SCI & TECH GRP
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At present, there is no such scheme in the prior art
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[0032] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.
[0033] A method for aligning a geodetic coordinate system and a SLAM coordinate system can be implemented based on the Ubuntu operating system and the ROS operating system (Robot Operating System) to perform task scheduling and interface presentation. like figure 1 As shown, the main implementation of this method is as follows:
[0034] Use a particle filter to generate N particles to simulate the position of the aircraft on the map;
[0035] The vertical view map slice A[w,h] of the real UAV position is scaled with the historical remote sensing map (the ratio of pixels and scale) to obtain A`[w`,h`];
[0036] Each particle gets a map slice P of the vertical perspective of the current position n A`[w`,h`];
[0037] Compare A`[w`,h`] with the P of each particle n A`[w`,h`], perform SURF (Speeded Up RobustFeatures) algorithm matching, calculat...
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The invention discloses a geodetic coordinate system and slam coordinate system alignment method, and the method comprises the steps: randomly generating N particles on a historical remote sensing map through a particle filter, simulating the position of an unmanned plane on the historical remote sensing map, obtaining the height of the unmanned plane and camera data, zooming the camera data, generating a slice of the historical remote sensing map for each particle, and carrying out the SURF matching, calculating the Euclidean distance as the confidence coefficient of each particle, updating a particle filter, regarding the particle with the highest confidence coefficient as the real position of the unmanned aerial vehicle so as to obtain the GPS position of the unmanned aerial vehicle on a historical remote sensing map, converting multiple groups of GPS positions and the position of the unmanned aerial vehicle in an SLAM coordinate system, calculating a conversion matrix and scale information, and obtaining the real position of the unmanned aerial vehicle. Therefore, the conversion relation between the GPS coordinate and the SLAM coordinate of the unmanned aerial vehicle is obtained. The auxiliary GPS information can be provided for the unmanned aerial vehicle, the probability of accident of the unmanned aerial vehicle is reduced, and the accumulated error of visual SLAM is reduced.
Description
technical field [0001] The invention relates to the technical field of artificial intelligence and unmanned aerial vehicles, in particular to a method for aligning a geodetic coordinate system and a SLAM coordinate system using historical remote sensing information. Background technique [0002] With the development of drone technology, the problem of drones' over-reliance on GPS has become more and more serious, and the loss of GPS signals is the main reason for drone crashes. Using multi-sensors for information fusion, improving mapping accuracy, reducing UAV positioning errors, and improving the stability of UAV positioning signals are one of the important contents of UAV navigation. The RGB-based SLAM coordinate system is a Cartesian coordinate system and has no scale information. It is necessary to align the SLAM coordinate system with the geodetic coordinate system, calculate the transformation matrix, and continuously correct the SLAM coordinates. Currently, there is...
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IPC IPC(8): G06T7/70G06V20/17G06V10/75G01S19/42
CPCG06T7/70G06V20/17G06V10/75G01S19/42
Inventor 张泽勇耿虎军高峰关俊志李晨阳王雅涵蔡迎哲柴兴华陈彦桥彭会湘
Owner NO 54 INST OF CHINA ELECTRONICS SCI & TECH GRP