A computer-vision-based integrated navigation scheme for autonomous la nding of an unmanned combat air vehicle (UCAV) was presented. Based on this sche me, vision information with measurements of other on-board sensors, including i n ertial navigation system (INS) and altimeter system, could be fused according to t he characteristics of these sensor systems. The scheme gave navigation informati on without the help of external navigation equipments with high measurement accu racy. Since computer vision played an important role in this navigation scheme, the vision algorisms were complicated processes and were discussed, so that the vision sensor measurement could be output with a delay in a low ban dwidth. A multi-rate extended Kalman filter was constructed to fuse multi-rate information and gave high bandwidth attitude and pose estimations based on the output bandwidth of INS. The navigation scheme could run properly on the real-t ime simulation system for autonomous landing of the UCAV.
Amidi O. An autonomous vision-guided helicopter . Pittsburgh:Electrical & Computer Engineering Department, Carnegie Mellon Univer sity, 1996
Schell F R, Dickmanns E D. Autonomous landing of airplanes by dynamic mac hine vision [J].Machine Vision and Applications.1994, 7(3):127-134
Sharp C S, Shakernia O, Sastry S S. A vision system for landing an unmann ed aerial vehicle IEEE International Conference on Robotics and Automati on. Seoul:Institute of Electrical and Electronics Engineers Inc, 2001:1720 - 1 727
Hespanha J M, Yakimenko O A, Kaminer I I, et al. Linear parametrically varying system with brief instabilities:an application to vision/inertial navi gation[J].IEEE Transactions on Aerospace and Electronic Systems.2004, 40(3):889-902
Sonka M, Hlavac V, Boyle R. Image processing, analysis, and machine visio n[M]. 2nd ed. :Brooks/Cole Publishing Company, 1999
Smith S M, Brady J M. SUSAN-a new approach to low level image processing [J].International Journal of Computer Vision.1997, 23(1):45-78
������. ���ڻ����Ӿ�������ս����������½�о� . ����:�������պ����ѧ�Զ�����ѧ���������ѧԺ, 2004 Li Shaoyan. Research on machine vision-based autonomous landing of unmanned com bat air vehicle . Beijing:School of Automation Science and Electrical Engin eering, Beijing University of Aeronautics and Astronautics, 2004(in Chinese)