基于图像跟踪的无人机定位方法研究
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摘要
图像导航是通过对机载传感器获得的图像进行分析和处理来获得导航定位参数的一种技术。信息丰富、成本低廉、完全自主等优越性使得图像导航已成为目前国内外导航技术的研究焦点。
本文在了解了各种常用导航方法的基础上,对无人机图像导航领域的研究现状、算法原理及特点进行了深入分析。最成熟的研究成果是通过一幅实时图像得到多个地标点的同名点信息,然后根据摄影测量原理求解飞行器位置参数和姿态参数。该方法要求导航计算机能够存储大量的匹配地图,并且实时图像上的同名点个数要在三个及三个以上。
针对以上问题,本文提出了基于图像跟踪的单点定位算法。若能利用激光测距仪测得无人机与地标点之间的距离量,利用主动式定位算法就可以解算出精度较高的无人机实时定位参数。但激光测距仪存在易暴露、易受干扰等缺点。
鉴于测距仪使用的局限性,本文又提出了被动式单点定位算法。本算法先对地标点进行跟踪,然后利用实时的像点坐标、光轴平台角、无人机姿态角等信息,根据空间几何关系解算出无人机定位参数。将主动式和被动式单点定位方法相结合,可以扩宽无人机图像导航的范围。本文对基于图像跟踪的单点定位算法进行了算法推导,仿真结果表明了算法的有效性。
最后,将本文提出的单点定位算法与捷联惯导系统一起构成组合导航系统,重点推导了适于该系统的集中式Kalman滤波器的状态方程和量测方程。
Image navigation is the technology which gets navigational and location parameters by analysing and handling the image acquired from sensors carried by plane. Image navigation has been the focus of both home and abroad in the navigational field because of its advantages including abundant information, low cost and independence.
Based on various common navigational methods, this paper deeply analyses the image navigational methods of UAV field, including the research status, algorithmic principles and characteristics. The most matured research result is to get the information of homonymous image points of multiple ground targets by a real-time image, and then solve the parameters of position and posture of UAV by camera and measure theory.
This method requires the navigational computer could store a amount of matching maps, and the number of homonymous points on real-time image should be three or more. Aiming at above problems, this paper proposes a single point orientation algorithm, based on image track. If the distance from UAV to ground target can be measured by laser telemeter, we can get the precise UAV real-time location parameters by active orientation algorithm. However, laser telemeter has some disadvantages, including being exposed and interfered easily.
Aiming at the limitation of laser telemeter,a passive single point orientation algorithm is proposed in this paper. The algorithm follows the trail of ground target, then makes use of informations including the coordinates of real-time image points, platform angles of optical axises and posture angels of UAV to solve the UAV location parameters according to the relationship of space geometry. The scope of image navigation of UAV can be expanded by combining active single point orientation algorithm and passive single point orientation algorithm. Besides, the single point orientation algorithm based on image track is deduced in this paper, the simulation results shows that the algorithm is effectual.
Finally, the single point orientation algorithms proposed in this paper and the Strapdown Inertial Navigation System are united to constitute a navigation system. This paper focuses on the deduction of Kalman filtering state equations and the measurement equations of the system.
本文在了解了各种常用导航方法的基础上,对无人机图像导航领域的研究现状、算法原理及特点进行了深入分析。最成熟的研究成果是通过一幅实时图像得到多个地标点的同名点信息,然后根据摄影测量原理求解飞行器位置参数和姿态参数。该方法要求导航计算机能够存储大量的匹配地图,并且实时图像上的同名点个数要在三个及三个以上。
针对以上问题,本文提出了基于图像跟踪的单点定位算法。若能利用激光测距仪测得无人机与地标点之间的距离量,利用主动式定位算法就可以解算出精度较高的无人机实时定位参数。但激光测距仪存在易暴露、易受干扰等缺点。
鉴于测距仪使用的局限性,本文又提出了被动式单点定位算法。本算法先对地标点进行跟踪,然后利用实时的像点坐标、光轴平台角、无人机姿态角等信息,根据空间几何关系解算出无人机定位参数。将主动式和被动式单点定位方法相结合,可以扩宽无人机图像导航的范围。本文对基于图像跟踪的单点定位算法进行了算法推导,仿真结果表明了算法的有效性。
最后,将本文提出的单点定位算法与捷联惯导系统一起构成组合导航系统,重点推导了适于该系统的集中式Kalman滤波器的状态方程和量测方程。
Image navigation is the technology which gets navigational and location parameters by analysing and handling the image acquired from sensors carried by plane. Image navigation has been the focus of both home and abroad in the navigational field because of its advantages including abundant information, low cost and independence.
Based on various common navigational methods, this paper deeply analyses the image navigational methods of UAV field, including the research status, algorithmic principles and characteristics. The most matured research result is to get the information of homonymous image points of multiple ground targets by a real-time image, and then solve the parameters of position and posture of UAV by camera and measure theory.
This method requires the navigational computer could store a amount of matching maps, and the number of homonymous points on real-time image should be three or more. Aiming at above problems, this paper proposes a single point orientation algorithm, based on image track. If the distance from UAV to ground target can be measured by laser telemeter, we can get the precise UAV real-time location parameters by active orientation algorithm. However, laser telemeter has some disadvantages, including being exposed and interfered easily.
Aiming at the limitation of laser telemeter,a passive single point orientation algorithm is proposed in this paper. The algorithm follows the trail of ground target, then makes use of informations including the coordinates of real-time image points, platform angles of optical axises and posture angels of UAV to solve the UAV location parameters according to the relationship of space geometry. The scope of image navigation of UAV can be expanded by combining active single point orientation algorithm and passive single point orientation algorithm. Besides, the single point orientation algorithm based on image track is deduced in this paper, the simulation results shows that the algorithm is effectual.
Finally, the single point orientation algorithms proposed in this paper and the Strapdown Inertial Navigation System are united to constitute a navigation system. This paper focuses on the deduction of Kalman filtering state equations and the measurement equations of the system.
引文
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[2]胡小平主编.自主导航理论与应用.国防科技大学出版社.2002
[3]秦永元,张洪钺,汪淑华.卡尔曼滤波与组合导航原理.西安:西北工业大学出版社.1998
[4]黄忠霖.控制系统MATLAB计算及仿真.第2版.北京:国防工业出版社.2004
[5]王细洋.航空概论.北京:航空工业出版社.2004
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[8]邹维宝,任思聪,李志林等.SAR在飞行器组合导航系统中的应用.火力与指挥控制.2003年2月第28卷第1期:6-13
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[13]钱钧.自动视频跟踪器的研究.南京理工大学.硕士论文.2005:4-5
[14]程开富.CCD图像传感器在军用武器装备中的应用.集成电路通讯.2006.6:40-41
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[28]赵国军,安锦文,王若甫.基于GPS/INS的图像目标实时定位方法研究.西北工业大学学报.2004,22:188-191
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[30]谭雁英,周旗,张波等.小型无人机航位推算定位算法研究与误差分析.火力与指挥控制.2007,5:8-15
[31]王剑锋,卢利斌,金国栋.无人机对目标的大地定位.战术导弹技术.2005,1:37-40
[32]毛昭军,汪德虎.姿态测量/激光测距的无人机目标定位模型.火力与指挥控制.2003,10:14-17
[33]熊智,刘建业,林雪原.高度辅助的INS/SAR组合导航系统研究.中国空间科学技术.2003,8:62-65
[34]屈重臣,任建新,李丹.惯性辅助电光测距技术研究与误差分析.中国惯性技术学报.2006,2:7-11
[35]腾科嘉,陈楸,刘焘.图像辅助导航系统中的量测矩阵的确定.弹箭与制导学报.2008,2:37-42
[36]何文涛.无人机定位技术及其应用.光电技术应用.2003,5:3-6
[37]邵永社.雷达图像定位方法与关键技术研究.同济大学.博士论文.2006:2-8
[38] Dasgupta Sumantra.An augmented-reality-based real-time panoramic vision System for autonomous navigation.IEEE Transactions on Systems,Man,and Cybernetics Part A:Systems and Humans.2006,1,36(1):154-161
[39] Muratet,Laurent(Animatlab-LIP6).Doncieux,Stephane;Briere,Yves;Meyer,Jean-Arcady.A contribution to vision-based autonomous helicopter flight In urban environments;Source.Robotics and Autonomous Systems.2005,5,50(4)B:195-209
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[2]胡小平主编.自主导航理论与应用.国防科技大学出版社.2002
[3]秦永元,张洪钺,汪淑华.卡尔曼滤波与组合导航原理.西安:西北工业大学出版社.1998
[4]黄忠霖.控制系统MATLAB计算及仿真.第2版.北京:国防工业出版社.2004
[5]王细洋.航空概论.北京:航空工业出版社.2004
[6]谢荣荣.基于光电成像的组合导航技术研究.西北工业大学.硕士论文.2006:8-15
[7]张远民.基于机器视觉的无人机着降定位技术研究.电子科技大学.硕士论文.2005.5:1-5
[8]邹维宝,任思聪,李志林等.SAR在飞行器组合导航系统中的应用.火力与指挥控制.2003年2月第28卷第1期:6-13
[9]刘新华.基于视觉的无人机着陆姿态检测和跑道识别.南京航空航天大学.硕士论文.2004:2-9,37-42
[10]丁萌.基于计算机视觉的无人机自主着陆方法研究.南京航空航天大学.2006:1815-1819
[11]蒋昊亮.无人机飞控系统的仿真研究.南京理工大学硕士学位论文.2004:5-7
[12]刘焘.基于准三维视觉模型的组合导航系统.西北工业大学.硕士论文.2007:27-32
[13]钱钧.自动视频跟踪器的研究.南京理工大学.硕士论文.2005:4-5
[14]程开富.CCD图像传感器在军用武器装备中的应用.集成电路通讯.2006.6:40-41
[15]屈耀红.小型无人机航迹规划及组合导航关键技术研究.西北工业大学.博士论文.2006:17-20
[16]包桂秋,周兆英,熊沈蜀等.图像导航技术的发展和应用.航空计测技术.2003:1-4
[17]耿明志,戎亚新.图像跟踪技术在无人机自主着陆导航中的应用.兵工自动化.2007,26(1):1-7
[18]崔永俊.空间直角坐标与大地坐标之间的变换方法研究.华北工学院学报.2003,24(1):73-75
[19]严伯铎.空间直角坐标到大地坐标变换的一种非迭代法.海洋测绘.2002,5:9-11
[20]杜小平,赵继广,崔占忠.航天器位置姿态的光学测量方法研究.兵工学报.2004,1:121-123
[21]刘建业,袁信.GPS/捷联惯性组合导航系统的一种半实时算法.中国惯性技术学报.1995:21-24
[22]安东,任思聪,郑愕.图像辅助的惯性导航系统.信息工程与电子技术.1998,6(3):62-66
[23]邵永社,陈鹰,祝小平.无人驾驶飞机精确定位方法研究.计算机工程与应用.2006,42(23):188-191
[24]马昕,袁信.地形辅助惯性导航系统研究.南京航空航天大学学报.1997,6, 29(3):289-293
[25]陈大志,张广军.基于地标图像信息的惯性导航系统误差校正方法.北京航空航天大学学报.2003,1,29(1):79-82
[26]李岩张智勇.陀螺安装误差影响视轴稳定平台精度的机理研究.光电工程.2007,34(9):10-15
[27]江月松尤红建.机载激光扫描测距仪的误差分析.遥感技术与应用.1998,13(02):1-8
[28]赵国军,安锦文,王若甫.基于GPS/INS的图像目标实时定位方法研究.西北工业大学学报.2004,22:188-191
[29]白亮,陈楸,腾科嘉.计算机视觉辅助无人机自主着陆系统.弹箭与制导学报.2006,02:320-324
[30]谭雁英,周旗,张波等.小型无人机航位推算定位算法研究与误差分析.火力与指挥控制.2007,5:8-15
[31]王剑锋,卢利斌,金国栋.无人机对目标的大地定位.战术导弹技术.2005,1:37-40
[32]毛昭军,汪德虎.姿态测量/激光测距的无人机目标定位模型.火力与指挥控制.2003,10:14-17
[33]熊智,刘建业,林雪原.高度辅助的INS/SAR组合导航系统研究.中国空间科学技术.2003,8:62-65
[34]屈重臣,任建新,李丹.惯性辅助电光测距技术研究与误差分析.中国惯性技术学报.2006,2:7-11
[35]腾科嘉,陈楸,刘焘.图像辅助导航系统中的量测矩阵的确定.弹箭与制导学报.2008,2:37-42
[36]何文涛.无人机定位技术及其应用.光电技术应用.2003,5:3-6
[37]邵永社.雷达图像定位方法与关键技术研究.同济大学.博士论文.2006:2-8
[38] Dasgupta Sumantra.An augmented-reality-based real-time panoramic vision System for autonomous navigation.IEEE Transactions on Systems,Man,and Cybernetics Part A:Systems and Humans.2006,1,36(1):154-161
[39] Muratet,Laurent(Animatlab-LIP6).Doncieux,Stephane;Briere,Yves;Meyer,Jean-Arcady.A contribution to vision-based autonomous helicopter flight In urban environments;Source.Robotics and Autonomous Systems.2005,5,50(4)B:195-209
[40] Dasgupta Sumantra;Banerjee,Amarnath A;A real-time panoramic vision system for autonomous navigation;Proceedings-Winter Simulation Conference,Proceedings of the 2004 Winter Simulation Conference.2004,2:1706-1711
[41] Jeffrey M.Hebert.Air Vehicle Path Planning[D].Air Force lnstitute of Technology,AFIT/DS/ENG/01—04:1-4
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