摘要
针对高动态环境下如何利用视觉导航快速解决GPS失效故障的问题,基于射影几何的基本性质,在预知失效时刻无人机坐标的情况下,提出了一种无人机非标定视觉自定位的新算法。首先对目标进行定位,假定摄像机内参数在拍摄过程中不发生变化,重点分析视觉系统在对目标一次识别的情况下快速定位,并在此基础上对无人机进行反定位。仿真验证表明:该算法能有效进行自定位,新位置的自定位坐标与实际坐标差异小,最大差值为0.01m,该算法无需知道摄像机的参数,避开了由于摄像机标定不准确带来的定位误差问题,提供了一种简单、实时、精度高的自定位新思路。
Aimed at the problem of ＂miss＂ in the traditional GPS navigation system, a new algorithm for self-localization is presented by taking the visual navigation as a novel navigation manner without compute camera calibration and any remote sensory information, and the position can be well estimated on the prop- erty of projective geometry and relation of geometry. Firstly, the target in the plane is located with the tar- get＇s position to realize the vision self-localization. The conclusion demonstrates the effectiveness of the model. The experiments show that the method can effectively eliminate the position, and the maximal dif- ferent value is 0.01 m. A novel thought-way with simplicity, real time and high precision is provided for vi- sion self-localization of UAV is provided.
出处
《空军工程大学学报（自然科学版）》
CSCD
北大核心
2015年第4期5-8,共4页
Journal of Air Force Engineering University(Natural Science Edition)
基金
中国博士后科学基金资助项目(2014M562629)
陕西省自然科学基金资助项目(2014JM8332)
国家级大学生创新训练资助项目(201490052001)
关键词
视觉自定位
射影几何
非标定摄像机
交比定理
vision self-localization
projective geometry
non-calibrated camera
cross ratio theorem
