Inertia-assisted runway center line stability identification method and device and storage medium

By constructing a list of visual side-pivot position predictions and combining it with inertial navigation data, valid centerlines are selected and strategies are updated. This solves the problem of insufficient robustness of visual centerline recognition during the autonomous take-off and landing of fixed-wing aircraft, and achieves high-precision and stable visual side-pivot position output.

CN121330635APending Publication Date: 2026-01-13BEIJING AUTOMATION CONTROL EQUIP INST
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Patent Information

Application Number
CN202511398019.0
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-09-28
Publication Date
2026-01-13

AI Technical Summary

Technical Problem

In existing technologies, visual methods for centerline identification are not robust enough during the autonomous take-off and landing of fixed-wing aircraft. They are prone to false positives and false negatives, especially under complex lighting conditions. Furthermore, they do not fully utilize the high precision and continuity of inertial navigation systems, resulting in weak spatial continuity of centerline detection results.

Method used

A list of predicted visual lateral position is constructed, outliers are eliminated and averaged using inertial navigation data, and effective midlines are selected using a modified visual midline recognition algorithm. A sliding window update strategy is adopted to maintain the timeliness of the prediction results.

Benefits of technology

It achieves continuous and stable high-precision visual side-off position output during aircraft takeoff and landing, improving the robustness and accuracy of visual inspection results and reducing the false detection rate.

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Abstract

The invention provides an inertia-assisted runway center line stable identification method and device and a storage medium, and the method comprises the steps: constructing and initializing a visual side deviation position prediction list, and obtaining a prediction result of a current frame visual side deviation position according to the prediction list and inertial navigation data; according to the prediction result, an effective middle line is screened out from lines to be selected of a front view image of the current frame, a sliding window updating strategy is adopted to store the visual lateral deviation position of the current frame into the last position of a prediction list, and the timeliness of the prediction result is maintained by keeping the prediction list continuously updated. According to the inertia-assisted runway center line stable identification method, continuous and stable high-precision visual lateral deviation position output in the take-off and landing process of the aircraft can be achieved. Compared with the prior art, the technical scheme of the invention can solve the technical problem of weak robustness of a visual center line recognition algorithm in the autonomous take-off and landing process of the fixed-wing aircraft in the prior art.
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