Unmanned aerial vehicle field GNSS-free positioning method based on image matching
The invention provides an unmanned aerial vehicle field GNSS-free positioning method based on image matching. The method comprises the following steps: performing orthographic processing on an unmanned aerial vehicle image by using a vision-inertial odometer method in an image orthographic module; t...
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| creator | JIA HAITAO XU SHIYI XU WENBO ZHOU HUANLAI LIN ZEHANG |
| description | The invention provides an unmanned aerial vehicle field GNSS-free positioning method based on image matching. The method comprises the following steps: performing orthographic processing on an unmanned aerial vehicle image by using a vision-inertial odometer method in an image orthographic module; the coarse positioning module performs preliminary positioning on the unmanned aerial vehicle image based on image matching; and the fine positioning module is used for accurately positioning the unmanned aerial vehicle image by using Monte-Carlo positioning. The main objective of the invention is to develop a positioning algorithm which does not depend on GNSS for long-distance flight but only depend on a monocular wide-angle camera, the positioning method is practical in the case where GNSS signals cannot be reliably used, and as a fail-safe alternative, it is possible to improve the reliability of the positioning algorithm. The unmanned aerial vehicle can reach the target position or at least safely land at a pre |
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The method comprises the following steps: performing orthographic processing on an unmanned aerial vehicle image by using a vision-inertial odometer method in an image orthographic module; the coarse positioning module performs preliminary positioning on the unmanned aerial vehicle image based on image matching; and the fine positioning module is used for accurately positioning the unmanned aerial vehicle image by using Monte-Carlo positioning. The main objective of the invention is to develop a positioning algorithm which does not depend on GNSS for long-distance flight but only depend on a monocular wide-angle camera, the positioning method is practical in the case where GNSS signals cannot be reliably used, and as a fail-safe alternative, it is possible to improve the reliability of the positioning algorithm. The unmanned aerial vehicle can reach the target position or at least safely land at a pre</description><language>chi ; eng</language><subject>ANALOGOUS ARRANGEMENTS USING OTHER WAVES ; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES ; GYROSCOPIC INSTRUMENTS ; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES ; MEASURING ; MEASURING DISTANCES, LEVELS OR BEARINGS ; NAVIGATION ; PHOTOGRAMMETRY OR VIDEOGRAMMETRY ; PHYSICS ; RADIO DIRECTION-FINDING ; RADIO NAVIGATION ; SURVEYING ; TESTING</subject><creationdate>2024</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20240823&DB=EPODOC&CC=CN&NR=118533169A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25564,76547</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20240823&DB=EPODOC&CC=CN&NR=118533169A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>JIA HAITAO</creatorcontrib><creatorcontrib>XU SHIYI</creatorcontrib><creatorcontrib>XU WENBO</creatorcontrib><creatorcontrib>ZHOU HUANLAI</creatorcontrib><creatorcontrib>LIN ZEHANG</creatorcontrib><title>Unmanned aerial vehicle field GNSS-free positioning method based on image matching</title><description>The invention provides an unmanned aerial vehicle field GNSS-free positioning method based on image matching. The method comprises the following steps: performing orthographic processing on an unmanned aerial vehicle image by using a vision-inertial odometer method in an image orthographic module; the coarse positioning module performs preliminary positioning on the unmanned aerial vehicle image based on image matching; and the fine positioning module is used for accurately positioning the unmanned aerial vehicle image by using Monte-Carlo positioning. The main objective of the invention is to develop a positioning algorithm which does not depend on GNSS for long-distance flight but only depend on a monocular wide-angle camera, the positioning method is practical in the case where GNSS signals cannot be reliably used, and as a fail-safe alternative, it is possible to improve the reliability of the positioning algorithm. 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| subjects | ANALOGOUS ARRANGEMENTS USING OTHER WAVES DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES GYROSCOPIC INSTRUMENTS LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION SURVEYING TESTING |
| title | Unmanned aerial vehicle field GNSS-free positioning method based on image matching |
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