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一种无人机视觉导航方法及其滤波算法改进

徐超 范耀祖 沈晓蓉 罗宇锋

徐超, 范耀祖, 沈晓蓉, 等 . 一种无人机视觉导航方法及其滤波算法改进[J]. 北京航空航天大学学报, 2010, 36(8): 1000-1004.
引用本文: 徐超, 范耀祖, 沈晓蓉, 等 . 一种无人机视觉导航方法及其滤波算法改进[J]. 北京航空航天大学学报, 2010, 36(8): 1000-1004.
Xu Chao, Fan Yaozu, Shen Xiaorong, et al. Vision based navigation system of UAV and improvements of the corresponding filtering algorithm[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(8): 1000-1004. (in Chinese)
Citation: Xu Chao, Fan Yaozu, Shen Xiaorong, et al. Vision based navigation system of UAV and improvements of the corresponding filtering algorithm[J]. Journal of Beijing University of Aeronautics and Astronautics, 2010, 36(8): 1000-1004. (in Chinese)

一种无人机视觉导航方法及其滤波算法改进

基金项目: 国家863高技术计划资助项目(2007AA12Z328);国家重点基础研究发展计划资助项目(2009CB72400201)
详细信息
  • 中图分类号: V 249.32+5

Vision based navigation system of UAV and improvements of the corresponding filtering algorithm

  • 摘要: 设计了一种无人机视觉/惯性组合导航系统,将无人机和地标点的运动模型作为状态方程,视觉信息作为观测量构建了与之对应的滤波模型.在滤波处理上,采用了复杂加性噪声模型对系统噪声进行建模处理;将小波分析引入到UKF (Unscented Kalman Filter)滤波中得到小波-UKF滤波算法,以此克服视觉观测噪声对滤波的影响;采用最大后验概率准则(MAP ,Maximum A Posterior)自适应估计观测噪声协方差阵,并将其反馈到滤波过程中克服了小波处理后观测噪声方差阵不易确定的不足.仿真结果证明:对滤波算法的改进可以有效地提高滤波估计的精度.

     

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出版历程
  • 收稿日期:  2009-06-22
  • 网络出版日期:  2010-08-30

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