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Quad-rotor indoor navigation method based on combination of vision and inertia

An indoor navigation and inertial combination technology, applied in the field of indoor navigation, can solve the problem of lack of scale information in navigation position information, and achieve the effect of improving navigation accuracy, accuracy and robustness

Inactive Publication Date: 2017-12-22
HARBIN UNIV OF SCI & TECH
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Problems solved by technology

However, when a monocular camera is used for navigation, the navigation position information provided lacks scale information, and inertia can make up for the scale problem of monocular navigation.

Method used

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  • Quad-rotor indoor navigation method based on combination of vision and inertia
  • Quad-rotor indoor navigation method based on combination of vision and inertia
  • Quad-rotor indoor navigation method based on combination of vision and inertia

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Embodiment Construction

[0023] The quadrotor indoor navigation method based on the combination of vision and inertia of the present invention will be described in detail below with reference to the embodiments and the accompanying drawings.

[0024] In the absence of external navigation information indoors, relying on the combination of cameras and inertial components installed on the quadrotor to provide navigation information; the present invention designs a quadrotor indoor navigation method based on the combination of vision and inertia, including the following steps: First, extract and Match the four cameras under the quadrotor motor base to collect image feature points in four directions synchronously, obtain the matching group of feature points, and pre-integrate the inertial information of the quadrotor between adjacent image frames; The visual and inertial pre-integration information is tightly coupled to obtain four sets of quadrotor navigation information; finally, the four sets of navigati...

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Abstract

The invention discloses a quad-rotor indoor navigation method based on combination of vision and inertia. The method can supply navigation information on the basis of combination of four cameras and an inertial element that are arranged under a motor base of the quad-rotor aircraft if there is no external navigation information indoor. According to the technical scheme, the quad-rotor indoor navigation method based on combination of vision and inertia includes the following steps: 1) extracting and matching characteristic points of images in four directions, which are collected synchronously by the four cameras under the motor base of the quad-rotor aircraft, to obtain a characteristic point matching groups, and pre-integrating the inert information, between adjacent image frames, of the quad-rotor aircraft; 2) tight-coupling the monocular vision in the four directions with the pre-integrated inert information through an optimization method in parallel to obtain four groups of the navigation information of the quad-rotor aircraft; and 3) fusing the four groups of the navigation information to obtain high-precision and high-robust indoor navigation information.

Description

technical field [0001] The invention relates to a four-rotor indoor navigation method, in particular to an indoor navigation method based on the combination of a self-carried camera and an inertial element in the absence of any external navigation information indoors. technical background [0002] Quadrotor is a micro UAV with simple structure, strong maneuverability, low take-off requirements, and the ability to hover. It can easily enter and exit various scenes with complex environments to perform difficult tasks such as search and rescue, investigation, and sneak attack. A high-precision, strong and stable navigation method is the premise guarantee for the quadrotor to complete the task. In the case of dense urban buildings, dense forest vegetation, deep mountains, and lack of external navigation information such as indoor GPS, the quadrotor will lose its navigation ability. Like a person being blindfolded. The camera can collect a wealth of environmental information, an...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/206
Inventor 薛萍陈孝虎王宏民
Owner HARBIN UNIV OF SCI & TECH
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