Full-parameter vision navigation based on scene matching for aircrafts
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- 作者：QiFeng Yu (1) (3)
Yang Shang (1) (3)
XiaoChun Liu (1) (3)
ZhiHui Lei (1) (3)
Xiang Li (1) (3)
XianWei Zhu (1) (3)
XiaoLin Liu (2) (3)
Xia Yang (1) (3)
Ang Su (1) (3)
XiaoHu Zhang (1) (3)
HongLiang Zhang (1) (3) - 关键词：full parameters vision navigation ; scene matching for multiple points ; autonomous navigation ; without satellite navigation
- 刊名：SCIENCE CHINA Information Sciences
- 出版年：2014
- 出版时间：May 2014
- 年：2014
- 卷：57
- 期：5
- 页码：1-10
- 全文大小：
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Yang Shang (1) (3)
XiaoChun Liu (1) (3)
ZhiHui Lei (1) (3)
Xiang Li (1) (3)
XianWei Zhu (1) (3)
XiaoLin Liu (2) (3)
Xia Yang (1) (3)
Ang Su (1) (3)
XiaoHu Zhang (1) (3)
HongLiang Zhang (1) (3)
1. College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, 410073, China
3. Hunan Key Laboratory of Videometrics and Vision Navigation, Changsha, 410073, China
2. College of Mechanic Engineering and Automation, National University of Defense Technology, Changsha, 410073, China - ISSN：1869-1919
文摘
Vision navigation based on scene matching between real-time images and a reference image has many advantages over the commonly used inertial navigation system (INS), such as no cumulative measurement errors for long-endurance flight. Recent developments in vision navigation are mainly used for partial navigation parameters measurements, such as the position and the relative velocity, which cannot meet the requirements of completely autonomous navigation. We present the concept, principle and method of full-parameter vision navigation (FPVN) based on scene matching. The proposed method can obtain the three-dimensional (3D) position and attitude angles of an aircraft by the scene matching for multiple feature points instead of a single point in existing vision navigations. Thus, FPVN can achieve the geodetic position coordinates and attitude angles of the aircraft and then the velocity vector, attitude angular velocity and acceleration can be derived by the time differentials, which provide a full set of navigation parameters for aircrafts and unmanned aerial vehicles (UAVs). The method can be combined with the INS and the cumulative errors of the INS can be corrected using the measurements of FPVN rather than satellite navigation systems. The approach provides a completely autonomous and accurate navigation method for long-endurance flight without the help of satellites.