CAJ | 학술논문

针对未知环境下飞行器导航问题，提出一种基于视觉/惯导组合的测速测高方法。该方法构建包含前若干个成像时刻飞行器位置的惯导扩展状态方程，并采用一种基于摄像机两视图对极几何约束的线性视觉量测方程，通过卡尔曼滤波进行惯导速度修正，在此基础上利用多帧成像的立体视觉交会估计地面特征点坐标，进而得到飞行器相对高度。以飞行器典型巡航轨迹进行的仿真实验表明，该方法能够有效修正飞行器速度和相对高度误差，给出不随时间漂移的速度和相对高度测量结果，并很好地抑制飞行器位置误差的发散。
침대미지배경하비행기도항문제，제출일충기우시각/관도조합적측속측고방법。해방법구건포함전약간개성상시각비행기위치적관도확전상태방정，병채용일충기우섭상궤량시도대겁궤하약속적선성시각량측방정，통과잡이만려파진행관도속도수정，재차기출상이용다정성상적입체시각교회고계지면특정점좌표，진이득도비행기상대고도。이비행기전형순항궤적진행적방진실험표명，해방법능구유효수정비행기속도화상대고도오차，급출불수시간표이적속도화상대고도측량결과，병흔호지억제비행기위치오차적발산。
For aircraft navigation in unknown environments,a velocity and height estimation method based on vision/inertial integrated navigation is proposed.An extended inertial navigation state equation was formulated,which contains several aircraft’s positions at latest several imaging times,and a linear vision measurement equation based on two view epipolar geometry constraints was adapted to correct inertial velocity error using a Kalman filter.And then,the coordinates of ground features were estimated by the stereo vision method,which was used to estimate the height of the aircraft.Simulation has been implemented by using the typical cruise trajectory of the aircraft,and the result shows that our method works well for correcting the velocity and height errors,which enables the velocity and height not to drift with time.As a result,it can also suppress the position error of the aircraft.