CN110388939A - One kind being based on the matched vehicle-mounted inertial navigation position error modification method of Aerial Images - Google Patents
One kind being based on the matched vehicle-mounted inertial navigation position error modification method of Aerial Images Download PDFInfo
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- CN110388939A CN110388939A CN201810366174.8A CN201810366174A CN110388939A CN 110388939 A CN110388939 A CN 110388939A CN 201810366174 A CN201810366174 A CN 201810366174A CN 110388939 A CN110388939 A CN 110388939A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The invention discloses one kind to be based on the matched vehicle-mounted inertial navigation position error modification method of Aerial Images, shoots image over the ground using UAV flight's aerial camera, carrying computer, the lift-off of airborne communication apparatus；Camera posture, direction, height when being shot by aerial camera acquisition；Aerial camera demarcates inner parameter and carries out just lower view correction process to shooting image；By the Aerial Images benchmark image matching corresponding with selection after correction；Need to position position of the vehicle on Aerial Images using image recognition technology determination；The position of matching result and positioning vehicle on realtime graphic calculates the accurate geographic position of vehicle；The recording error for the positioning result amendment inertial navigation system that matching primitives obtain.The present invention provides one kind to be based on the matched vehicle-mounted inertial navigation position error modification method of Aerial Images, which does not depend on satellite-signal, do not depend on road sign point, will not generate limitation to carrier vehicle action, have and establish one's own system, anti-interference strong, the high advantage of positioning accuracy.
Description
Technical field
The present invention relates to positioning and navigation fields, in particular to a kind of to be based on the matched vehicle-mounted inertial navigation position error of Aerial Images
Modification method.
Background technique
Vehicle positioning technology is for accurately determining the geographical coordinate of carrier vehicle position；To guarantee and enhancing vehicular weapons system
The rapid mobility of system, modern advanced land tactical vehicle generally all have positioning system；Inertial navigation system (INS) and complete
The INS/GPS combined system that ball positioning system (GPS) is constituted, is modified using measurement data of the GPS to INS, can be calculated
Accurate geographical coordinate position out meets the requirement of onboard system dynamic positioning, but GPS technology depends critically upon external satellite and provides
Service, and since there are anti-satellite and satellite communication perturbation technique, the positioning system for relying on satellite-signal is easy by broken
Bad or interference, therefore consider, vehicle positioning system does not answer heavy dependence Satellite Navigation Technique, and should have autonomous positioning ability.
Autonomous positioning has the characteristics that passive measurement, establishes one's own system, is not easy to be disturbed.Inertial navigation system has independent navigation energy
Power, it, which does not need any external electromagnetic signal, can independently provide the posture, speed and location information of carrier, anti-interference ability
By force.But inertial navigation system is using inertance element measurement carrier acceleration, obtains posture and the position of carrier by integral
Information, the factors such as gyroscopic drift cause error to accumulate at any time.Therefore, in actual operation, the external school of inertial navigation system
Quasi- equipment is indispensable.The accumulated error of inertial navigation system can be modified using road sign point correction system, improve system
The positioning accuracy of system, but due to being distributed system in road sign point correction system nature, there are difficult in maintenance and safe
Property insufficient problem.More importantly road sign point correction system limits the course of action of carrier vehicle: carrier vehicle must have road sign point
Position nearby could complete correct；
Vehicle automatic positioning navigation system is always the hot technology of all kinds of researchers and engineering staff's concern, related at this stage
Technology mainly has the integrated positioning system based on INS and GPS/ big-dipper satellite, positions and builds based on IMU and while machine vision
Scheme (SLAM) technology, the INS positioning correcting system based on road sign point.
(1) integrated positioning system wherein based on INS and GPS/ big-dipper satellite is using GPS/ Beidou positioning information to INS's
Measurement data is modified, and can be calculated accurate geographical coordinate position, but be relied on satellite-signal；
(2) the SLAM technology based on IMU and machine vision is mainly used for route planning of the robot around barrier, which is to calculate to carry
The relative position of vehicle/robot track and surrounding objects, rather than absolute geographical location；
(3) the INS positioning correcting system based on road sign point is modified the accumulated error of INS using road sign point, improves system
Positioning accuracy, but limit the course of action of carrier vehicle: carrier vehicle must could complete amendment near the position for having road sign point.
Summary of the invention
The technical problem to be solved in the present invention is to provide one kind to be repaired based on the matched vehicle-mounted inertial navigation position error of Aerial Images
Correction method, (1) this patent determines reference map region of search according to ins error, and is using images match result and in advance reading
Geographical coordinate on the satellite image of system calculates the geographical coordinate of carrier vehicle, therefore does not need GPS/ Big Dipper satellite signal, can be complete
Positioning is realized by system itself entirely, has the advantages that passive measurement, establishes one's own system, is not easy to be disturbed, and meeting that application is safe can
The needs leaned on；
(2) this patent can be used unmanned plane lift-off and take photo by plane, and the satellite mapping of system is then read in by Aerial Images and in advance
As matching；Because anywhere unmanned plane can take off, needs not rely on specific road sign and positioned, so to load
The course of action of vehicle will not generate limitation；
(3) this patent according on images match result and satellite image geographical coordinate calculate carrier vehicle geographical coordinate, due to
With error usually in 1 pixel or so, so positioning accuracy is determined by satellite image resolution ratio and coordinate precision, it is high-precision having
In the case where degree, high-resolution satellite image, sub_meter position result can be obtained；
The satellite image with geographical coordinate of system is read in by unmanned plane image and in advance using image matching technology
Match, obtain the geographical location of carrier vehicle, then to inertial navigation positioning cumulative errors be modified, the technology do not depend on satellite-signal,
Road sign point is not depended on, limitation will not be generated to carrier vehicle action, have and establish one's own system, anti-interference strong, the high advantage of positioning accuracy.
In order to solve the above-mentioned technical problems, the present invention provides one kind to be missed based on the matched vehicle-mounted inertial navigation positioning of Aerial Images
Poor modification method includes the following steps: that (1) passes through UAV flight's aerial camera, airborne computer, airborne communication apparatus；a,
The aerial camera is built-in, being connected refers to northern instrument, altimeter, attitude transducer；B, the airborne communication apparatus and ground xbee are wireless
Transceiver module is connected, and ground xbee radio receiving transmitting module is connected with floor treatment platform；The floor treatment platform with
Vehicle-mounted inertial navigation processing platform is connected；(2) it is gone up to the air using UAV flight's aerial camera, carrying computer, airborne communication apparatus
Image is shot over the ground；(3) camera posture, side when being shot by the attitude transducer on aerial camera, northern instrument, altimeter acquisition
To, height；(4) the preparatory calibration for cameras inner parameter of the aerial camera, by calibration inner parameter (focal length, principal point) to shooting
Image carries out just lower view correction process；A, the Aerial Images benchmark image corresponding with selection after correction is matched；The airborne meter
Calculation machine is stored with the benchmark picture library of the reference map of coordinate；The benchmark of corresponding range is selected according to INS errors range
Figure；B, need to position position of the vehicle on Aerial Images using image recognition technology determination；(5) according to matching result and positioning
Position of the vehicle on realtime graphic calculates the accurate geographic position of vehicle；(6) it is repaired by the positioning result that matching primitives obtain
The recording error of positive inertial navigation system.
Preferably, the camera calibration is that aerial camera passes through space control point and control point on the image before taking photo by plane
Mapping relations between subpoint obtain corresponding camera parameter.
Preferably, the reference map is to shoot image in advance.
Preferably, the airborne computer is handled for target identification and images match, is specifically included storage and is realized preparation
Good reference map, Aerial Images correction and direction, resolution adjustment, Aerial Images are matched with the benchmark image of storage, are identified
The carrier vehicle position on Aerial Images again.
Preferably, shooting instruction, the inertial navigation system that the airborne communication apparatus is used to receive to transmit on ground provide
Initial position and search range, and pass matching positioning result back.
Preferably, xbee radio receiving transmitting module in described ground is used to send shooting instruction to airborne computer, inertial navigation provides
Initial position and search range, and receive matching positioning result.
Preferably, the floor treatment platform is used to read initial position and search model from vehicle-mounted inertial navigation processing platform
It encloses, and corrects inertial navigation positioning result with the matching positioning result that airborne communication apparatus returns.
Preferably, the vehicle-mounted inertial navigation processing platform is for providing initial position and location error range.
By adopting the above technical scheme, the present invention provides one kind be based on the matched vehicle-mounted inertial navigation position error of Aerial Images
Modification method shoots image using UAV flight's aerial camera, carrying computer, the lift-off of airborne communication apparatus over the ground；It takes photo by plane
Camera posture, direction, height when the acquisition shooting of camera meter；Aerial camera demarcates inner parameter and carries out just lower view to shooting image
Correction process；By the Aerial Images benchmark image matching corresponding with selection after correction；It is determined using image recognition technology and needs to determine
Position of the position vehicle on Aerial Images；The position of matching result and positioning vehicle on realtime graphic calculates vehicle accurately
Manage position；The technical characteristic of the recording error for the positioning result amendment inertial navigation system that matching primitives obtain.So that of the invention
It is not needed as traditional one kind based on the matched vehicle-mounted inertial navigation position error modification method of Aerial Images in use, base
In the matched vehicle-mounted inertial navigation position error correction technique of Aerial Images, be using UAV flight's aerial camera to continuous image and
Then carrier vehicle shooting will shoot image and match with the prior satellite image with geographical position coordinates for reading in system, thus
Exact position to where shooting time carrier vehicle, and inertial navigation position error is modified using the positioning result.The positioning side
Method needs inertial navigation system to provide the search range of images match, but does not need satellite-signal (GPS/ Beidou), and unmanned plane can
Anywhere to take off, by the combination of inertial navigation system and this method, can effectively realize vehicle-mounted autonomous positioning, have it is small-sized,
Feature easy-to-use, independence is strong and positioning accuracy is high, be it is a kind of can meet that high-precision requirement and strategic security need simultaneously from
Master positioning technology.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention；
Fig. 2 is the schematic diagram of Kalman filtering.
Specific embodiment
To facilitate the understanding of the present invention, in the following with reference to the drawings and specific embodiments, the present invention will be described in more detail.
A better embodiment of the invention is given in the attached drawing.But the present invention can realize in many different forms, however it is not limited to
This specification described embodiment.On the contrary, purpose of providing these embodiments is makes reason to the disclosure
It solves more thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term used in this specification " vertical ", " horizontal ",
"left", "right" and similar statement are for illustrative purposes only.
Unless otherwise defined, technical and scientific term all used in this specification is led with technology of the invention is belonged to
The normally understood meaning of the technical staff in domain is identical.Used term is only in the description of the invention in this specification
The purpose of description specific embodiment is not intended to the limitation present invention.Term "and/or" used in this specification includes one
Any and all combinations of a or multiple relevant listed items.
The present invention is further described with example with reference to the accompanying drawing.
As shown in Figure 1, a kind of be based on the matched vehicle-mounted inertial navigation position error modification method of Aerial Images, including walk as follows
It is rapid:
(1) pass through UAV flight's aerial camera, airborne computer, airborne communication apparatus；
A, it built in aerial camera, is connected and refers to northern instrument, altimeter, attitude transducer；
B, airborne communication apparatus is connected with ground xbee radio receiving transmitting module, and ground xbee radio receiving transmitting module and floor treatment
Platform is connected；
Floor treatment platform is connected with vehicle-mounted inertial navigation processing platform；
(2) image is shot over the ground using UAV flight's aerial camera, carrying computer, the lift-off of airborne communication apparatus；
(3) camera posture, direction, height when being shot by the attitude transducer on aerial camera, northern instrument, altimeter acquisition；
(4) the preparatory calibration for cameras inner parameter of aerial camera carries out shooting image by calibration inner parameter (focal length, principal point)
It is just lower to regard correction process；
A, the Aerial Images benchmark image corresponding with selection after correction is matched；
The airborne computer is stored with the benchmark picture library of the reference map of coordinate；
The reference map of corresponding range is selected according to INS errors range；
B, need to position position of the vehicle on Aerial Images using image recognition technology determination；
(5) accurate geographic position of vehicle is calculated according to the position of matching result and positioning vehicle on realtime graphic；
(6) recording error of inertial navigation system is corrected by the positioning result that matching primitives obtain；
When use: the positioning result obtained by images match can be used for correcting the error of vehicle-mounted inertial navigation；The design of correction algorithm
Steps are as follows:
(1) error modeling of inertial navigation system；Different types of inertial navigation system, the inertia device used is different, has different mistakes
Poor characteristic and model；In the present solution, be high-precision optical gyro inertial navigation equipment for vehicle location, need to combine optics top
The error characteristics and test data of spiral shell, establish the error model of system；
(2) Design on Kalman Filter of data fusion；The measurement positioned according to the error model of inertial navigation system, images match is special
Sign establishes the system model and measurement model of Kalman filtering, and the measurement feature positioned according to images match, designs Kalman
The filtering observation cycle of filtering and systematic features period.The schematic diagram of Kalman filtering is as shown in Fig. 2.
Preferably, camera calibration is that aerial camera passes through space control point and the projection of control point on the image before taking photo by plane
Mapping relations between point, obtain corresponding camera parameter.
Preferably, reference map is to shoot image in advance.
Preferably, airborne computer is handled for target identification and images match, specifically includes what storage realization prepared
Reference map, Aerial Images correction and direction, resolution adjustment, Aerial Images are matched with the benchmark image of storage, identify carrier vehicle
Position on Aerial Images again.
Preferably, shooting instruction, the inertial navigation system that airborne communication apparatus is used to receive to transmit on ground provide initial
Position and search range, and pass matching positioning result back.
Preferably, xbee radio receiving transmitting module in ground is used to provide to airborne computer transmission shooting instruction, inertial navigation initial
Position and search range, and receive matching positioning result.
Preferably, floor treatment platform is used to read initial position and search range from vehicle-mounted inertial navigation processing platform, and
Inertial navigation positioning result is corrected with the matching positioning result that airborne communication apparatus returns.
Preferably, vehicle-mounted inertial navigation processing platform is for providing initial position and location error range；If modified from last time
Distance is 50 kilometers, and it is 1/1000 that error, which dissipates ratio, then search range is the radius 2*50000*1/ centered on initial point
In 1000=100 meters of circle.
When use: (1) inertial navigation can be accumulated constantly with vehicle driving, position error, and usual error rate is 1/1000,
That is 100 km of vehicle driving, position error is at 100 meters or so；So when traveling a distance, when inertial navigation position error is larger,
It goes up to the air and shoots using UAV flight's camera, start positioning amendment；
It (2) can be according to camera posture, direction, height and the prior phase obtained by calibrating that the sensor on camera obtains when shooting
Machine inner parameter (focal length, principal point) carries out just lower view correction to shooting image, and by shoot image direction and reference map direction,
Resolution adjustment is consistent；Wherein the just lower view correction of the calibration of camera internal parameter and image be all using the prior art；
(3) need to position position of the vehicle after correction and adjustment on Aerial Images using target identification technology determination, wherein mesh
Mark identification technology uses the prior art；
(4) reference map of corresponding range is selected according to ins error size, it then will correction and Aerial Images adjusted and base
Quasi- image is matched；Existing algorithm wherein is can be used into Aerial Images and the matched algorithm of benchmark image；
(5) position according to matching result and positioning vehicle on realtime graphic, calculates the accurate geographic position of vehicle, and utilize
The error for the positioning result amendment inertial navigation positioning that matching primitives obtain；Using high coordinate precision and high-resolution satellite image
In the case where doing reference map, images match positioning can reach sub-meter grade precision, thus the hundred meter level error corrections that inertial navigation is positioned
For sub-meter grade error, this is the main problem that the patented technology solves.
Embodiment: existing positioning system mainly includes based on INS(inertial navigation system) and the combination of GPS/ Beidou it is fixed
Position system, is based on IMU(inertia test cell) and positioning and SLAM(position and build immediately figure while machine vision) technology, base
In the INS positioning correcting system of road sign point；
The shortcomings that combined orientation technology based on INS and GPS/ Beidou: because the technology utilizes the offer of GPS/ Beidou satellite system
Location information the accumulated error of INS is modified, so it height rely on satellite-signal.One side satellite-signal is in non-empty
Spacious area is poor, on the other hand since there are various anti-satellite with satellite-signal perturbation technique, the groups based on INS and GPS/ Beidou
It closes location technology and there are problems that security and reliability in military field；
Positioning and the shortcomings that building figure (SLAM) technology based on IMU and while machine vision: because the technology is mainly used for machine
People around barrier and route planning, focus be calculate carrier vehicle/robot track and surrounding objects relative position, for around barrier what
Route planning provides support, and accurately geographical location is not the focus of the technology, and IMU and SLAM can generate position
Positioning while setting accumulated error, therefore be based on IMU and machine vision and building figure (SLAM) technology can not usually obtain accurately
Geographical location；
The shortcomings that INS positioning correcting system based on road sign point: because the system needs to preset several road sign points, and these
Road sign point will be continuously in external environment, and the punctuate that needs to satisfy the need carries out the test maintaining of maintenance and discontinuity, so this scheme
The shortcomings that be to safeguard excessively difficult, be not easy to operate.More importantly road sign point correction system limits the course of action of carrier vehicle:
Carrier vehicle must could complete amendment near the position for having road sign point；
Vehicle-mounted inertial navigation position error is modified using the matching result of Aerial Images and satellite image, this technology and existing vehicle
The difference of inertial navigation position error correction technique is carried, the present invention is that unique one kind does not depend on satellite-signal, do not depend on road sign point, will not
The geographical location that limits and can be accurately positioned carrier vehicle is generated to carrier vehicle route；The technology, which has, establishes one's own system, anti-interference strong, positioning
The high advantage of precision；There is critically important application value.
The difference of this technology and existing vehicle-mounted inertial navigation position error correction technique
| Technology class Type | Based on INS and GPS/ Beidou Integrated positioning system | It is fixed based on IMU and while machine vision Position with build figure (SLAM) technology | INS based on road sign point Positioning correcting system | This is specially Sharp skill Art |
| Satellite letter Number rely on | It is | It is no | It is no | It is no |
| It is absolutely fixed Position | It is | It is no | It is | It is |
| Carrier vehicle road Line limitation | It is no | It is no | It is | It is no |
| Positioning accurate Degree | Up to sub-meter grade | Up to Centimeter Level | Up to sub-meter grade | It is reachable Sub- rice Grade |
The present invention provides one kind to be based on the matched vehicle-mounted inertial navigation position error modification method of Aerial Images, which, which does not depend on, defends
Star signal does not depend on road sign point, will not generate limitation to carrier vehicle action, have and establish one's own system, anti-interference strong, positioning accuracy Gao You
Point.
In conjunction with attached drawing, the embodiments of the present invention are described in detail above, but the present invention is not limited to described implementations
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out, are still fallen in protection scope of the present invention.
Claims (8)
1. one kind is based on the matched vehicle-mounted inertial navigation position error modification method of Aerial Images, which comprises the steps of:
(1) pass through UAV flight's aerial camera, airborne computer, airborne communication apparatus；
A, the aerial camera is built-in, being connected refers to northern instrument, altimeter, attitude transducer；
B, the airborne communication apparatus is connected with ground xbee radio receiving transmitting module, and ground xbee radio receiving transmitting module and ground
Processing platform is connected；
The floor treatment platform is connected with vehicle-mounted inertial navigation processing platform；
(2) image is shot over the ground using UAV flight's aerial camera, carrying computer, the lift-off of airborne communication apparatus；
(3) camera posture, direction, height when being shot by the attitude transducer on aerial camera, northern instrument, altimeter acquisition；
(4) the preparatory calibration for cameras inner parameter of the aerial camera, by calibration inner parameter (focal length, principal point) to shooting image
Carry out just lower view correction process；
A, the Aerial Images benchmark image corresponding with selection after correction is matched；
The airborne computer is stored with the benchmark picture library of the reference map of coordinate；
The reference map of corresponding range is selected according to INS errors range；
B, need to position position of the vehicle on Aerial Images using image recognition technology determination；
(5) accurate geographic position of vehicle is calculated according to the position of matching result and positioning vehicle on realtime graphic；
(6) recording error of inertial navigation system is corrected by the positioning result that matching primitives obtain.
2. it is according to claim 1 a kind of based on the matched vehicle-mounted inertial navigation position error modification method of Aerial Images, it is special
Sign is, the camera calibration be aerial camera before taking photo by plane by space control point and the subpoint of control point on the image it
Between mapping relations, obtain corresponding camera parameter.
3. it is according to claim 1 a kind of based on the matched vehicle-mounted inertial navigation position error modification method of Aerial Images, it is special
Sign is that the reference map is to shoot image in advance.
4. it is according to claim 1 a kind of based on the matched vehicle-mounted inertial navigation position error modification method of Aerial Images, it is special
Sign is that the airborne computer is handled for target identification and images match, specifically includes storage and realizes the benchmark prepared
Figure, Aerial Images correction and direction, resolution adjustment, Aerial Images are matched with the benchmark image of storage, and identification carrier vehicle is navigated again
Clap the position on image.
5. it is according to claim 1 a kind of based on the matched vehicle-mounted inertial navigation position error modification method of Aerial Images, it is special
Sign is, the initial position that shooting instruction, the inertial navigation system that the airborne communication apparatus is used to receive to transmit on ground provide
And search range, and pass matching positioning result back.
6. it is according to claim 1 a kind of based on the matched vehicle-mounted inertial navigation position error modification method of Aerial Images, it is special
Sign is that described ground xbee radio receiving transmitting module is used for the initial position that airborne computer sends shooting instruction, inertial navigation provides
And search range, and receive matching positioning result.
7. it is according to claim 1 a kind of based on the matched vehicle-mounted inertial navigation position error modification method of Aerial Images, it is special
Sign is that the floor treatment platform is used to read initial position and search range from vehicle-mounted inertial navigation processing platform, and uses machine
The matching positioning result that carrier communication equipment returns corrects inertial navigation positioning result.
8. it is according to claim 1 a kind of based on the matched vehicle-mounted inertial navigation position error modification method of Aerial Images, it is special
Sign is that the vehicle-mounted inertial navigation processing platform is for providing initial position and location error range.
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| CN111238488A (en) * | 2020-03-18 | 2020-06-05 | 湖南云顶智能科技有限公司 | Aircraft accurate positioning method based on heterogeneous image matching |
| CN111504323A (en) * | 2020-04-23 | 2020-08-07 | 湖南云顶智能科技有限公司 | Unmanned aerial vehicle autonomous positioning method based on heterogeneous image matching and inertial navigation fusion |
| CN111426320A (en) * | 2020-05-18 | 2020-07-17 | 中南大学 | Vehicle autonomous navigation method based on image matching/inertial navigation/milemeter |
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