Scheme for vision-aided navigation in flight with reference of road intersections
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摘要: 为取消因参考固定目标而造成的导航距离限制,提出了以道路交叉点为参考地物的飞行器视觉辅助导航方案.基于条带检测算法提取图像中的道路交叉点.图像道路交叉点和地图道路交叉点间的匹配计算中引入交叉点属性约束以缩小搜索空间.利用惯性导航系统的方位、高度输出快速剔除错误匹配,减小了匹配过程计算量.用黄金标准算法估计投影矩阵或单应矩阵,并计算飞行器导航参数.仿真实验验证了方案的有效性.Abstract: To release the range limit caused by choosing the fixed landmark as reference, a vision-aided navigation scheme for aircraft with reference of road intersections was proposed. The road intersections were extracted based on the curvilinear structure extraction algorithm. The searching space was reduced by introducing intersection property restriction in matching image and map road intersections. The unreasonable match could be eliminated according to the azimuth and height output of the inertial navigation system (INS). Therefore, the computation cost was greatly reduced. The navigation parameters were computed by the projection matrix or homography matrix, which were estimated by golden standard algorithm. The simulation results verify the effectiveness of the scheme.
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Key words:
- aircraft navigation /
- vision-aided navigation /
- road intersection
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