A self-adaptive positioning and correction method for UAV multi-frame images based on aerial attitude

Abstract

The invention proposes an adaptive positioning and correction method for multi-frame images of an unmanned aerial vehicle based on an aerial attitude, and belongs to the technical field of remote sensing image processing. The main steps of the present invention are: (1) self-adaptive initialization; different initialization strategies are adopted for different sources of multi-frame images, and different initial values ​​are selected for different flight attitudes. (2) Determine the number of corresponding points with the same name according to the number of input image frames. (3) Use bundle adjustment method to establish constraints between multiple images to establish error equations, and traverse each point of the same name in each image to establish normal equations. (4) Add the correction number to the approximate value and iterate as a new approximate value until the correction number is less than the limit value, and output the correction number. The present invention accurately and real-time performs error correction on multiple acquired images with a common area during the online aerial photography process of the UAV, and improves the accuracy of positioning results.

Description

technical field [0001] The invention belongs to the technical field of remote sensing image processing, and in particular relates to an adaptive positioning and correction method for multi-frame images of an unmanned aerial vehicle based on aerial photography attitude. Background technique [0002] As UAVs are widely used in detection, surveillance, tracking and other fields, the requirements for the accuracy of UAV aerial image positioning technology for ground targets have become more stringent. However, it is difficult to improve the accuracy of UAV image correction and ground target positioning due to many reasons. The error directly affects the accuracy of the subsequent calculation of the corrected positioning; and the wide detection range of the UAV makes it impossible for the positioning algorithm based on the ground control point information with high positioning accuracy to be widely used. [0003] In terms of specific operation methods, domestic and foreign resea...

AI Technical Summary

Problems solved by technology

[0010] Due to the high overlap rate between a large number of aerial images during the aerial photography of the UAV, the correction and ground target positioning methods of single frame images do not make full use of this information

Moreover, for the case where the same target appears in multiple single-frame images, the positioning results of aerial images obtained under different aerial attitudes will be different, resulting in the inability to obtain a unified and optimal result.

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