A monocular vision positioning-based rotor unmanned aerial vehicle attitude estimation method

Abstract

The invention discloses a monocular vision positioning-based rotor unmanned aerial vehicle attitude estimation method, which comprises the following steps of: firstly, preprocessing an image which iscaptured by an airborne camera and contains a visual mark, eliminating image noise and highlighting the visual mark; According to the geometric characteristics of the visual mark, extracting the visual mark composed of an H-shaped mark and a circular ring through a five-step method; Then, detecting 12 corner points of the H-shaped mark by adopting a distance three-point method, and matching the 12corner points with corresponding corner points in a preset reference image; And finally, calculating a homography matrix according to the matched angular point pairs, decomposing the homography matrix by adopting a direct linear transformation DLT method to calculate an attitude angle of the unmanned aerial vehicle relative to the visual sign, and calculating position data of the unmanned aerialvehicle relative to the visual sign according to a similar triangle principle of camera imaging. The method is higher in calculation speed and has a better practical value.

Description

technical field [0001] The present invention is applied to the fields of power inspection, medical rescue, environmental monitoring, disaster monitoring and agricultural perception. In these applications, the key technology is the autonomous landing of UAVs. To realize the autonomous landing of UAVs, The primary problem is the accurate estimation of the attitude of the UAV, and the present invention provides an accurate estimation method for the attitude of the UAV based on this; the present invention belongs to the technical field of machine learning and image processing. Background technique [0002] With the vigorous development of intelligent technology, microelectronics technology, digital communication technology, sensing technology and virtual reality technology, quadrotor drones have been vigorously developed in both military and civilian fields. Quadrotor drones involve knowledge in navigation, computer vision, control theory, embedded electronics, etc. It has the c...

AI Technical Summary

Problems solved by technology

[0009] (2) The pose calculation accuracy of vision-based UAV positioning needs to be improved

[0010] Due to the objective shortage of camera equipment, the low accuracy of image feature extraction, and the complexity of the external environment, the image feature information required in the pose calculation cannot be well utilized, resulting in poor pose calculation results. certain limitations

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