机器人2012，Vol.34Issue(4)：424-431,439,9.DOI:10.3724/SP.J.1218.2012.00424
视觉约束下无人机位姿参数的后验估计
UAV Pose Posterior Estimation with Vision Constraint
摘要
Abstract
To estimate UAV (unmanned aerial vehicle) pose relative to airfield runway, a posterior parameter estimation method using the runway image and onboard pose sensors is presented. Firstly, pose parameters of UAV are measured by onboard sensors such as altimeter, GPS (global positioning system) and INS (inertial navigation system). Supposing the prior probability distribution of each parameter's measurement error is given and all errors are independent, the measured values from sensors can be considered as a sample of real ones. At the same time of sampling, an image of the runway is acquired from onboard calibrated camera, and the two edge lines of the runway are assumed to be extracted exactly from the image. Subject to the constraint of the perspective view of two parallel lines, the real parameters must locate on a constraint surface in the parameter space, and thereby the posterior mean estimation of the parameters can be obtained. Simulation results show that the method is effective.关键词
计算机视觉/无人机(UAV)/后验估计/线特征Key words
computer vision/ unmanned aerial vehicle (UAV)/ posterior estimation/ line feature分类
信息技术与安全科学引用本文复制引用
朱枫,刘昶,吴清潇,周静,夏仁波..视觉约束下无人机位姿参数的后验估计[J].机器人,2012,34(4):424-431,439,9.基金项目
国家自然科学基金资助项目(51005229). （51005229）
