空军工程大学学报（自然科学版）Issue(4)：5-8,4.DOI:10.3969/j.issn.1009-3516.2015.04.002
一种无人机非标定视觉自定位新算法
Research on An Accurate UAV Self localization Method Based on Non calibrated Vision Navigation
摘要
Abstract
Aimed at the problem of"miss"in the traditional GPS navigation system,a new algorithm for self��localization is presented by taking the visual navigation as a novel navigation manner without compute camera calibration and any remote sensory information,and the position can be well estimated on the prop-erty of proj ective geometry and relation of geometry.Firstly,the target in the plane is located with the tar-get's position to realize the vision self��localization.The conclusion demonstrates the effectiveness of the model.The experiments show that the method can effectively eliminate the position,and the maximal dif-ferent value is 0.01 m.A novel thought��way with simplicity,real time and high precision is provided for vi-sion self��localization of UAV is provided.关键词
视觉自定位/射影几何/非标定摄像机/交比定理Key words
vision self-localization/proj ective geometry/non-calibrated camera/cross ratio theorem分类
信息技术与安全科学引用本文复制引用
付强,孙秀霞,刘树光,徐嵩,彭轲..一种无人机非标定视觉自定位新算法[J].空军工程大学学报（自然科学版）,2015,(4):5-8,4.基金项目
中国博士后科学基金资助项目(2014M562629) （2014M562629）
陕西省自然科学基金资助项目(2014JM8332) （2014JM8332）
国家级大学生创新训练资助项目(201490052001) （201490052001）
