航空学报2025，Vol.46Issue(11)：379-394,16.DOI:10.7527/S1000-6893.2024.31168
面向城市空中交通的无人机视觉定位技术
UAV visual positioning technology for urban air mobility
摘要
Abstract
Drones in the Urban Air Mobility(UAM)environment are faced with the problems of unstable satellite navi-gation and positioning and signal interference,and existing additional navigation systems are faced with the challenges of requirement for high airborne computing power.This study proposes a lightweight UAV visual navigation and posi-tioning system.By developing an image feature extraction framework that fuses state space modules,the prediction accuracy is significantly improved,and a triplet self-supervised training method based on Gaussian pyramid is imple-mented to enhance the robustness of the algorithm.By introducing a feature matching strategy based on sliding win-dows and similarity matrices,the feature matching process is optimized and the inference speed is significantly im-proved.Experiments on the Airsim simulation platform and real UAM flight scenarios show that this algorithm can pro-vide accurate additional navigation and positioning data in complex environments.Multiple sets of ablation experiments and performance tests are conducted to verify the advanced nature and real-timeliness of the algorithm,as well as its capability to effectively reduce the computing power requirements.The results show that this system can not only im-prove the accuracy of UAV navigation,but also provide a feasible visual solution for positioning and navigation in urban air traffic environments.关键词
低空经济/无人机/视觉定位/状态空间模块/自监督训练/Airsim/特征匹配Key words
low-altitude economy/UAV/visual positioning/state space module/self-supervised training/Airsim/feature matching分类
航空航天引用本文复制引用
屈若锟,王致远,刘晔璐,李诚龙,江波..面向城市空中交通的无人机视觉定位技术[J].航空学报,2025,46(11):379-394,16.基金项目
国家自然科学基金重点项目(U2333214) （U2333214）
工业控制技术全国重点实验室开放课题(ICT2024B45) （ICT2024B45）
民航局安全能力建设项目(MHAQ2024033) （MHAQ2024033）
民航飞行技术与飞行安全重点实验室开放项目(FZ2021KF13) Key Project of National Natural Science Foundation of China(U2333214) （FZ2021KF13）
Open Project of National Key Laboratory of Industrial Control Technology(ICT2024B45) （ICT2024B45）
Civil Aviation Administration Safety Capacity Building Project(MHAQ2024033) （MHAQ2024033）
Civil Aviation Flight Technology and Flight Safety Key Laboratory Open Project(FZ2021KF13) （FZ2021KF13）
