兵工自动化Issue(7)：24-28,5.DOI:10.7690/bgzdh.2014.07.007
无人飞行器视觉导航半实物仿真系统
Semi-physical Simulation System for the Visual Navigation of UAV
摘要
Abstract
For the problem of the integrated navigation system consisted of INS and GPS that when the signal of GPS is lost, the measurement values of INS gradually drift until the divergence, a semi-physical simulation system for the visual navigation of UAV is designed and developed. The hardware of the system is mainly consisted of linear motion mechanism, pan-tilt camera, acquisition and control equipment, projection equipment and power supply equipment, the software of the system is mainly consisted of GUI, data acquisition module, image processing module and motion control module. Through the multi-threading technique, it makes every module independent of each other. Besides, experiments of simulating UAV’s flight dynamics were carried out. The experiment results show that:the system truly reflect the dynamic parameters of UAV during the flight and the change of attitudes, and also have a good user display and control interface. The experiment results verify the validity of the experiment system and the feasibility of the attitude extraction algorithm based on the horizon in the image.关键词
无人飞行器/视觉导航/图像处理/地平线提取/半实物仿真系统Key words
UAV/visual navigation/image processing/horizon extraction/semi-physical simulation system分类
军事科技引用本文复制引用
徐蓓蓓,关震宇,张赫,杨欢,李杰..无人飞行器视觉导航半实物仿真系统[J].兵工自动化,2014,(7):24-28,5.基金项目
十二五国防基础科研项目“非瞄准线×××弹药技术”(B22233××××) （B22233××××）
