Small unmanned aerial vehicle self-locating method based on web beacon correction

A small unmanned aerial vehicle, autonomous positioning technology, applied in the direction of navigation computing tools, etc., can solve the problem of poor accuracy of MEMS sensors

Inactive Publication Date: 2018-12-18
AIR FORCE UNIV PLA
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  • Application Information

AI Technical Summary

Problems solved by technology

However, MEMS sensors generally have poor accuracy at present, so how to design an autonomous positioning method that meets the positioning requirements and has a fast calculation speed is the main bottleneck for using MEMS sensors for small UAV positioning.

Method used

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  • Small unmanned aerial vehicle self-locating method based on web beacon correction
  • Small unmanned aerial vehicle self-locating method based on web beacon correction
  • Small unmanned aerial vehicle self-locating method based on web beacon correction

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Embodiment Construction

[0083] In order to further illustrate the present invention, the following content is described in two steps respectively.

[0084] The northeast sky coordinate system is used as the world coordinate system in the positioning process, and the origin is the center of the airborne camera at the initial moment (indicated by the symbol "w"). Let the camera coordinate system at the initial moment coincide with the three axes of the world coordinate system.

[0085] Step 1: Based on the camera, pressure sensor, and orientation angle sensor, determine the non-composition positioning method (MLVO), and the algorithm framework is as follows figure 1 shown. Including algorithm initialization, camera pose estimation, translation estimation and key frame setting four modules. Among them, attitude estimation and translation estimation are the core of the method framework, and the specific steps are as follows:

[0086] Step 1.1: If figure 1 As shown, let the image captured by the camer...

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Abstract

The invention discloses a small unmanned aerial vehicle self-locating method based on web beacon correction. The method comprises the steps that (1) a mapping-free localization algorithm (MLVO) is determined based on cameras, pressure sensors and direction angle sensors; and (2) web map resources are introduced aiming at the accumulative error problem in the MLVO algorithm, markers with the slow-changing property and continuity are selected as navigation beacons, GPS global coordinates of the markers are used as prior information, and GPS coordinates of the markers in a task region are searched in advance and stored in a database. A self-locating algorithm based on web beacon correction is designed and forms a loop with the MLVO algorithm in the first step to eliminate accumulative errorsin the relative locating process of an unmanned aerial vehicle, so that the locating error drift problem of a relative locating algorithm is solved. By means of the method, the position of the unmanned aerial vehicle can be primarily calculated on the basis of a video sequence collected by the unmanned aerial vehicle, then combined with a web map, accumulative error drift in the early locating process is eliminated, and the overall locating precision and stability are improved.

Description

technical field [0001] The invention mainly relates to the design field of unmanned aerial vehicles, in particular to an autonomous positioning method for small unmanned aerial vehicles based on network beacon correction. Background technique [0002] UAVs were first born at the beginning of the last century. Because they can replace humans to perform dangerous and boring tasks, they have attracted many attentions in the military and civilian fields. In recent years, small drones have shown great application potential in the fields of individual combat, emergency rescue and disaster relief, environmental exploration, and logistics express with their light weight, agile movement, and functions such as fixed-point hovering and target tracking. At present, small UAVs are mainly used in wide and unobstructed outdoor environments, mainly relying on GPS module positioning, but with the continuous expansion of its application fields, in the future, small UAVs will be more used in G...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 赵搏欣赵晓林陈小龙姜俊
Owner AIR FORCE UNIV PLA
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