The invention discloses a
satellite / vision /
laser combined urban
canyon environment UAV positioning and navigation method, and belongs to the technical field of measurement and testing. The method comprises the following steps: acquiring a
sky image by using an omnidirectional
infrared camera; extracting partial data in the 3D city information to construct a city ideal
skyline database; obtaining horizontal position information of the unmanned aerial vehicle by comparing building
skyline information extracted from the
infrared image with an urban ideal
skyline database; determining height information of the unmanned aerial vehicle by
laser ranging; constructing a building boundary
sky map according to the initial position information of the unmanned aerial vehicle and the building boundaryinformation; superposing a building boundary
sky map and a
satellite sky map to mine a multi-path judgment rule; calculating the final position information of the unmanned aerial vehicle, interferencecaused by light rays such as night light weakening is avoided, the calculation complexity is reduced,
image processing feature extraction is easy to achieve, errors and the calculation amount causedby direct
scene matching can be reduced, and the requirements of all-weather flight and operation of the unmanned aerial vehicle can be met.