Inertia, vision and height information fusion navigation method for unmanned aerial vehicle

Inertia, vision and height information fusion navigation method for unmanned aerial vehicle

The invention provides an inertia, vision and height information fusion navigation method for an unmanned aerial vehicle. The inertia, vision and height information fusion navigation method for the unmanned aerial vehicle comprises the following steps: acquiring a scale estimation value according to...

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Hauptverfasser: MING LI, LIU CHONGLIANG, SHANG KEJUN, LI ZHI, DUAN HAOYU, WANG HAIJUN, LI XIXI, ZHUANG GUANGCHEN, HU GUANGFENG, WANG DAYUAN, PEI XINKAI, JIAO HAO
Format: Patent
Sprache:chi ; eng
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GYROSCOPIC INSTRUMENTS
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
SURVEYING
TESTING
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creator MING LI
LIU CHONGLIANG
SHANG KEJUN
LI ZHI
DUAN HAOYU
WANG HAIJUN
LI XIXI
ZHUANG GUANGCHEN
HU GUANGFENG
WANG DAYUAN
PEI XINKAI
JIAO HAO
description The invention provides an inertia, vision and height information fusion navigation method for an unmanned aerial vehicle. The inertia, vision and height information fusion navigation method for the unmanned aerial vehicle comprises the following steps: acquiring a scale estimation value according to real-time height information of the unmanned aerial vehicle; updating vision measurement information according to the scale estimation value; collecting a visual image by a visual sensor, and performing feature extraction and matching according to the visual image to obtain a speed initial value of the inertial sensor; constructing an inertia residual error; acquiring IMU inertial parameters by adopting a twice inertial sensor initialization method according to the inertial residual error; according to the IMU inertial parameters and the visual image, inertial-visual joint optimization is carried out to complete pose estimation, and unmanned aerial vehicle positioning is carried out to complete inertial, visual an
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subjects GYROSCOPIC INSTRUMENTS
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
SURVEYING
TESTING
title Inertia, vision and height information fusion navigation method for unmanned aerial vehicle
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