Multi-machine collaborative target high-precision positioning system and method based on visual navigation

Abstract

The invention provides a multi-machine cooperative target high-precision positioning system and method based on visual navigation. The system comprises a visual inertial odometer module which is used for fusing the results of visual measurement and inertial measurement through a sliding window filter, stably tracking the pose of an unmanned plane, and obtaining a ground surface point cloud at the same time; a scene matching module which is used for analyzing the surface flatness by analyzing the elevation distribution of the point cloud, and observing the pose of the unmanned aerial vehicle in a geographical environment by adopting scene matching for a flat point cloud; a terrain matching module which is used for analyzing the surface flatness by analyzing the elevation distribution of the point cloud, and observing the pose of the unmanned aerial vehicle in a geographical environment by adopting terrain matching for a fluctuating point cloud; and a reference map management module which is used for realizing storage and effective retrieval of geographic information by utilizing a grid and quadtree mixed index structure, providing map data for scene matching and terrain matching, and extracting stable structures in a real-time map and a reference map through optimized line segments.

Description

【Technical field】 [0001] The present invention relates to the technical field of image processing, in particular to a multi-machine cooperative target high-precision positioning system and method based on visual navigation. 【Background technique】 [0002] At present, the research on UAV multi-machine cooperation mainly focuses on the research on UAV flight control and multi-machine formation decision-making control, and there are few researches on the high-precision positioning of UAV multi-machine cooperation intelligent targets. [0003] Therefore, it is necessary to study a multi-machine cooperative target high-precision positioning system and method based on visual navigation to deal with the deficiencies of the existing technology, so as to solve or alleviate one or more of the above-mentioned problems. 【Content of invention】 [0004] In view of this, the present invention provides a multi-machine cooperative target high-precision positioning system and method based...

AI Technical Summary

Problems solved by technology

[0004] In view of this, the present invention provides a multi-machine cooperative target high-precision positioning system and method based on visual navigation, which solves many problems of high-precision positioning of battlefield targets in the UAV cluster reconnaissance system, including:

[0008] 4) The difficulty of image retrieval and reference map management brought about by multi-view image scene matching;

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