High-speed intelligent platform combined positioning method based on geomagnetism / vision / DVL

Abstract

The invention discloses a combined positioning method based on geomagnetism / vision / DVL. A geomagnetic induction sensor, a vision sensor and a DVL sensor are combined to position a high-speed intelligent platform and construct a position information system of the platform. According to the right 1, a visual sensor is used for collecting image information, and displacement differences between reference objects in a scene are settled through a visual model, so that the moving speed of the platform is calculated. According to the geomagnetic induction sensor in the right 1, the vector included angle between the high-speed intelligent platform and the geomagnetic field can be obtained by measuring the geomagnetic azimuth and fitting the fast reconfigurable Kalman algorithm. According to the right 1, the DVL sensor is used for measuring the speed information of the high-speed intelligent platform under a navigation coordinate system, and the height sensor provides the vertical height information from the ground for the mobile platform. And a local geomagnetic declination compensation angle is obtained through a global geomagnetic field model in combination with the obtained longitude and latitude height information, targets in the scene are recognized through a Riemannian manifold algorithm in combination with a visual system and the obtained position information, and reference information of all objects in the scene is obtained. And integrating the position information, and identifying the target in the scene through a Riemannian manifold algorithm to obtain reference information of each object in the scene.

Description

Technical Field

[0001] The present invention belongs to the technical field of navigation, and particularly relates to a combined positioning method based on geomagnetism / vision / DVL, which uses a combination of a geomagnetic induction sensor, a vision sensor, and a DVL sensor to position a high-speed intelligent platform and construct a position information system for the platform. Background Art

[0002] At present, the construction of the digital map of the high-speed intelligent platform mainly relies on remote sensing data obtained by satellites, radars, etc., which makes the construction of the digital map of the high-speed intelligent platform have problems such as harsh conditions and high costs. Summary of the Invention

[0003] The present invention provides a combined positioning and navigation method based on geomagnetism / vision / DVL, and the technical problems to be solved are: realizing the positioning of the high-speed intelligent platform; solving the positioning and navigation problems of the high-speed intelligent platform in a failure environment of satellites, radars, etc.

[0004] To solve the above technical problems, the present invention provides a combined positioning and navigation method based on geomagnetism / vision / DVL, which is characterized in that: a geomagnetic measurement sensor system, a vision system, and a DVL sensor system are adopted; wherein the geomagnetic measurement sensor system, the vision system, and the DVL sensor system form a data processing module of the high-speed intelligent platform;

[0005] The specific content of the system is as follows:

[0006] In the first step, the included angle between the high-speed intelligent platform and the geomagnetic field vector is obtained by fitting the fast reconfigurable Kalman algorithm with the geomagnetic field components of the geomagnetic sensitive sensor.

[0007] In the second step, the DVL sensor measures the speed information of the high-speed intelligent platform in the navigation coordinate system, and the height sensor provides the vertical height information from the ground for the mobile platform. These two sets of information are filtered through a filtering algorithm to obtain the speed information (Vx, Vy, Vz) and the longitude-latitude-height information (Lo, La, Hi) of the high-speed intelligent platform; In the third step, the local geomagnetic declination compensation angle is obtained through the global geomagnetic field model in combination with the longitude-latitude-height information obtained in the second step; In the fourth step, the longitude-latitude-height (Lo, La, Hi), speed (Vx, Vy, Vz), and attitude angle (theta, gamma, phi) information of the high-speed intelligent platform are obtained from the information obtained in the first three steps; In the fifth step, image information is collected through the vision system; In the sixth step, the displacement difference between the platform and each reference object in the scene is calculated through the vision model, so as to calculate the platform movement speed; Step 7: Combine the visual system with the position information obtained in Step 4, and identify the targets in the scene through the Riemannian manifold algorithm to obtain the reference information of each object in the scene.

[0008] Analysis result: The present invention can utilize the information combination of geomagnetic navigation, DVL sensor measurement, and visual system to position the high-speed intelligent platform, and combine with the artificial intelligence image processing algorithm to construct a more detailed position information system to provide guarantee for activities such as platform monitoring. Description of the drawings

[0009] Figure 1 It is a flow chart of the system parameters for obtaining the position of a high-speed intelligent platform proposed by the present invention.

Claims

1. A combined positioning method based on geomagnetism / vision / DVL, which uses a combination of geomagnetic induction sensors, vision sensors, and DVL sensors to position a high-speed intelligent platform and construct a position information system for the platform.

2. According to claim 1, by using the geomagnetic induction sensor, the included angle between the high-speed intelligent platform and the geomagnetic field vector can be obtained by measuring the geomagnetic azimuth angle and fitting the fast reconfigurable Kalman algorithm.

3. According to claim 1, by using the vision sensor, image information is collected, and the displacement difference between the platform and each reference object in the scene is calculated through the vision model, so as to calculate the moving speed of the platform.

4. According to claim 1, by using the DVL sensor, the speed information of the high-speed intelligent platform in the navigation coordinate system is measured, and the height sensor provides the vertical height information from the ground for the mobile platform.

5. The local geomagnetic declination compensation angle is obtained through the global geomagnetic field model by combining the obtained latitude, longitude, and altitude information. By combining the vision system and the obtained position information, the targets in the scene are identified through the Riemannian manifold algorithm to obtain the reference information of each object in the scene.

6. Based on the above position information, the targets in the scene are identified through the Riemannian manifold algorithm to obtain the reference information of each object in the scene.

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