A positioning method for patrol detectors based on single-camera navigation images

Abstract

The invention provides a positioning method for a patrol detector based on a single-camera navigation image, and relates to the technical field of aerospace. This method first defines multiple coordinate systems, and then calculates the coordinates of a certain navigation camera photography center in the patrol zero coordinate system and the image plane Cartesian coordinates of the corresponding image points of the feature points in the navigation image, and then obtains the The coordinates of the point in the zero coordinate system, the body coordinate system and the patrol coordinate system; according to the position of the photography center of the navigation image, combined with the offset between the origin of the zero coordinate system and the photography center, the origin of the body coordinate system and the origin of the zero coordinate system at The offset in the patrol coordinate system is used to obtain the coordinates of the origin of the coordinate system of the patrol body in the patrol coordinate system to achieve the final positioning. The inspection detector positioning method based on the single-camera navigation image provided by the present invention can realize high-precision positioning by using two control points even when one navigation camera fails, and relies less on initial conditions.

Description

technical field [0001] The invention relates to the field of aerospace technology, in particular to a positioning method for a patrol detector based on a single-camera navigation image. Background technique [0002] The high-precision navigation and positioning of patrol detectors is one of the key technologies for carrying out deep space scientific investigation missions. High-precision positioning can ensure the safety of the patrol, and high-precision attitude information can ensure that it maintains a good pointing angle with the ground control system. Existing high-precision positioning methods for patrol detectors mainly include positioning methods based on odometers and IMUs, and positioning methods based on photogrammetry. Localization methods based on odometry and IMU have accumulated errors, therefore, photogrammetry-based methods must be used to make necessary corrections. In areas rich in control points, existing photogrammetry positioning methods such as the b...

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Problems solved by technology

[0004] Although the research results of the above-mentioned scholars at home and abroad have achieved good results, the positioning process requires a large number of control points. In addition, the attitude parameters obtained by the inertial measurement unit are required. In the case of lack of texture conditions and a small number of feature points It may not be possible to complete the positioning when one of the navigation cameras fails

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