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Unmanned aerial vehicle scene matching auxiliary navigation method and system

A technology of scene matching and auxiliary navigation, which is applied in the field of navigation to achieve the effect of high real-time, high precision, efficient and accurate image matching

Active Publication Date: 2012-04-25
SPACE STAR TECH CO LTD
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AI Technical Summary

Problems solved by technology

[0010] The invention proposes to use the content-based image retrieval method to select the scene matching area of ​​the UAV scene matching navigation, which solves the problem of image area adaptability well

Method used

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  • Unmanned aerial vehicle scene matching auxiliary navigation method and system
  • Unmanned aerial vehicle scene matching auxiliary navigation method and system
  • Unmanned aerial vehicle scene matching auxiliary navigation method and system

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Embodiment Construction

[0068] The technical scheme of the present invention is described in detail below in conjunction with accompanying drawing:

[0069] Such as figure 1 with Image 6 Shown are the flow charts of the method and system modules of the present invention respectively. In the method and the module, it includes correspondingly, an image preprocessing module for acquiring and preprocessing a reference image, an image feature extraction module for extracting image features, a reference image vocabulary tree building module for establishing a reference image vocabulary tree, and A scene matching area selection module for selecting a scene matching area, a scene matching module for realizing scene matching, a wrong matching removal module for removing wrong matching points, and a navigation error correction module for correcting navigation errors. The processing methods of the modules in the system will be introduced respectively below.

[0070] 1. Get the image and preprocess it:

[0...

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Abstract

The invention discloses an unmanned aerial vehicle scene matching auxiliary navigation method and system. The method mainly comprises seven steps as follows: acquiring and preprocessing an image, extracting local characteristics of the image, establishing a reference map vocabulary tree model, selecting a reference image matching area, realizing image matching, removing wrong matching points and correcting the navigation error. Through the invention, the best reference map can be selected in real time from a large reference image database, and accurate matching is finished; and the method and system are used for a high-accuracy positioning or auxiliary navigation process. The method and system disclosed by the invention have the advantages of good real-time performance and high accuracy, and are suitable for an unmanned aerial vehicle-borne processor.

Description

technical field [0001] The invention relates to the technical field of navigation, and relates to a scene matching auxiliary navigation method and system for an unmanned aerial vehicle. Background technique [0002] UAV navigation technology refers to the technology that UAV uses onboard navigation equipment and flight control system to locate and control and complete flight tasks. Commonly used methods in UAV navigation include remote control navigation, inertial navigation, satellite navigation, integrated navigation, etc. [0003] UAVs, especially small UAVs used in combat, have a harsh electromagnetic environment, the remote control communication link is difficult to maintain, and the GPS signal is also susceptible to interference. Among many navigation methods, inertial navigation and scene matching navigation can improve the adaptability of UAV navigation. [0004] The inertial navigation system uses inertial components to sense the angular velocity and acceleration ...

Claims

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Application Information

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IPC IPC(8): G01C21/24
Inventor 安山王婷王兵张宏
Owner SPACE STAR TECH CO LTD
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