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�������պ����ѧѧ�� 2007, Vol. 33 Issue (02) :159-163    DOI:
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����, ���ڻ�*
�������պ����ѧ �Զ�����ѧ���������ѧԺ, ���� 100083
Vision-based autonomous landing integrated navigation scheme of unmanned combat aerial vehicles
Chen Lei, Chen Zongji*
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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Abstract�� 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.
Keywords�� unmanned combat air vehicle   navigation systems   computer vision   Kalman filteri ng   autonomous landing     
Received 2006-03-17;


About author: �� ��(1976-),��,������,��ʿ��,roger@buaa.edu.cn.
����, ���ڻ�.�����Ӿ���������ս�ɻ�������½��������[J]  �������պ����ѧѧ��, 2007,V33(02): 159-163
Chen Lei, Chen Zongji.Vision-based autonomous landing integrated navigation scheme of unmanned combat aerial vehicles[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2007,V33(02): 159-163
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