无线电工程2025，Vol.55Issue(9)：1823-1834,12.DOI:10.3969/j.issn.1003-3106.2025.09.010
基于两阶段自主可重构框架的无人机导航技术
Research on UAV Navigation Technology Based on a Two-stage Autonomous Reconfigurable Framework
摘要
Abstract
Realizing more ubiquitous,more integrated and smarter autonomous navigation and positioning of long-endurance UAVs is the mission and requirement of the new generation of national integrated Positioning,Navigation and Timing(PNT)system of China.When the Global Navigation Satellite System(GNSS)is interfered and unreliable,the navigation and localization of UAVs will face challenges including degraded navigation accuracy,positioning failure,and reliability/environmental adaptability issues with backup systems.A two-stage reconfigurable UAV visual localization framework method is proposed for long-endurance UAV autonomous navigation and localization requirements,and a large-scale outdoor scene dataset covering multiple terrains and scales and containing 6 742 UAV images and 33 331 satellite image blocks is constructed,which provides a benchmark support for the training and evaluation of the algorithm.The method adopts a reconfigurable large range retrieval module to quickly lock the target area,and achieves precise localization through deep feature matching.The reconfigurability of image retrieval can improve the anti-interference capability of visual features,and the reconfigurability of image matching can use different feature matching algorithms for different types of environmental scenes.The experimental results show that the recall rate of the image retrieval module proposed is around 90%,and the visual localization precision is improved to 30 m level.The method shows good robustness under different terrain conditions,and can be widely used in practical scenarios such as autonomous navigation of UAVs.关键词
无人机视觉定位/遥感卫星/可重构性Key words
UAV visual positioning/remote sensing satellites/reconfigurability分类
信息技术与安全科学引用本文复制引用
姚雅轩,曹佳琦,许文嘉,王德琰,朱嘉婧,孟凡琛,刘杨,彭木根..基于两阶段自主可重构框架的无人机导航技术[J].无线电工程,2025,55(9):1823-1834,12.基金项目
国家自然科学基金基础科学中心项目(62388101) （62388101）
国家自然科学基金青年项目(62301063) （62301063）
惯性测量全国重点实验室稳定支持项目 （）
中国科协青年人才托举计划(YESS20230090)China Basic Science Center Program of National Natural Science Foundation(62388101) （YESS20230090）
Young Scientists Fund of National Natural Science Foundation of China(62301063) （62301063）
Funds for National Key Laboratory of Inertial Measurement （）
Young Elite Scientists Sponsorship Program of Chi-na Association for Science and Technology(YESS20230090) （YESS20230090）
