国防科技大学学报Issue(1)：17-21,5.DOI:10.11887/j.cn.201401004
未知环境下飞行器视觉／惯导组合测速测高方法
A velocity and height estimation method based on vision/inertial for aircraft in unknown environments
摘要
Abstract
For aircraft navigation in unknown environments,a velocity and height estimation method based on vision/inertial integrated navigation is proposed.An extended inertial navigation state equation was formulated,which contains several aircraft’s positions at latest several imaging times,and a linear vision measurement equation based on two view epipolar geometry constraints was adapted to correct inertial velocity error using a Kalman filter.And then,the coordinates of ground features were estimated by the stereo vision method,which was used to estimate the height of the aircraft.Simulation has been implemented by using the typical cruise trajectory of the aircraft,and the result shows that our method works well for correcting the velocity and height errors,which enables the velocity and height not to drift with time.As a result,it can also suppress the position error of the aircraft.关键词
视觉导航/惯性导航/速度测量/高度测量/卡尔曼滤波Key words
vision navigation/inertial navigation/velocity measurement/height measurement/Kalman filter分类
信息技术与安全科学引用本文复制引用
苏昂,雷志辉,张跃强,朱宪伟,刘海波..未知环境下飞行器视觉／惯导组合测速测高方法[J].国防科技大学学报,2014,(1):17-21,5.基金项目
国家自然科学基金资助项目（60904084）；国家重点基础研究发展计划项目 （）
