Double-machine air relative positioning method based on visual feature point matching

The invention discloses a double-machine air relative positioning method based on visual feature point matching, which comprises the following steps: acquiring a double-machine image frame sequence and a relative pose of each frame of image at a corresponding moment, and constructing an image relative pose sequence database; acquiring a real-time dual-machine image, extracting feature points, and determining the feature points of the real-time dual-machine image; feature point matching is carried out on the real-time dual-machine image and the image relative pose sequence database, matched feature point pairs are determined, and mismatched point pairs are eliminated; determining a translation rotation vector between the two frames of images according to the matched feature point pairs, and determining a frame of image with the smallest difference with the real-time dual-machine image in an image relative pose sequence database according to the translation rotation vector; and taking the dual-machine relative