CN105825517A - Image correction method and system of navigation height errors - Google Patents
Image correction method and system of navigation height errors Download PDFInfo
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- CN105825517A CN105825517A CN201610195049.6A CN201610195049A CN105825517A CN 105825517 A CN105825517 A CN 105825517A CN 201610195049 A CN201610195049 A CN 201610195049A CN 105825517 A CN105825517 A CN 105825517A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/46—Descriptors for shape, contour or point-related descriptors, e.g. scale invariant feature transform [SIFT] or bags of words [BoW]; Salient regional features
- G06V10/462—Salient features, e.g. scale invariant feature transforms [SIFT]
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/759—Region-based matching
Abstract
The invention discloses an image correction method of navigation height errors. The method comprises the following steps: 1, matching current image frames shot by a detector on an aircraft with a reference template, and positioning multiple local substantial areas in the image frames; 2, combining each two of the multiple local substantial areas in the image frames; 3, calculating a height error and a correction evaluation factor which are corresponding to each area combination; 4, selecting a minimum one from correction evaluation factor values corresponding to the multiple combinations, and taking the height error corresponding to the minimum value as an optimal height error; and 5, correcting a current height H by use of the optimal height error. According to the invention, the height errors are calculated by use of combining multiple image local feature matching results in pairs, height error correction results are evaluated by use of corresponding evaluation indexes, and thus the positioning precision of the aircraft is improved.
Description
Technical field
The invention belongs to optical guidance and technical field of guidance, the image correcting method of a kind of height error of navigating and system, be accurately positioned for assisting in flying device, be particularly suited for the position fixing process of infrared, visible ray multiple spectral coverage optical guidance and guided flight vehicle.
Background technology
When all kinds of aircraft navigations are with guidance, the problem that will relate to self being accurately positioned.The position and attitude information error of the Inertial Navigation Platform output that aircraft carries under normal circumstances can be accumulated over time, after accumulation after a while, its site error, the imageable target identification process of optical guidance Yu guidance system can be caused bigger interference by especially height error, and aircraft altitude is the lowest, the impact of this error is the biggest.
At present, the part correction to inertial navigation position and attitude information can be realized by means such as GPS, BD and GNSS satellite alignment system, roadbed navigation, celestial navigations, but every kind of positioning means all exists the restriction of certain use condition.If these outside correction means are too relied on the process of guidance by aircraft navigation, then optical guidance and guidance means can be made to be difficult to Autonomy work, thus significantly weaken its serviceability.Therefore, it is necessary to rely on the correction of the information complete independently Inertial Navigation Platform posture information (mainly relative altitude error) easily ensured.
In current imageable target recognizer, some relative altitude error correcting methods of application are to use " exploration optimizing method " mostly, relative altitude parameter is regulated the most within the specific limits by particular step size, calculate the matching degree of certain marked feature in image or calculate multiple characteristic matching result position relationship degree of consistency, choosing the relative altitude parameter under optimal situation as revised result.This kind of method is higher to the required precision of characteristic matching, and lacks the assessment of the quantization to correction effect.
Summary of the invention
Defect for prior art, it is an object of the invention to provide image correcting method and the system of a kind of height error of navigating, multiple image local feature matching results are combined computed altitude error in pairs, and use corresponding evaluation index to carry out quantitative evaluation height error correction result, improve Aerial vehicle position precision.
In order to realize the technology of the present invention purpose, the technical solution used in the present invention is as follows:
The image correcting method of a kind of height error of navigating, comprises the following steps:
(1) current image frame of detector shooting on aircraft is mated with reference template, multiple local marking area in the picture frame of location；
(2) by multiple local marking area combination of two in picture frame, two regions in note areas combine are A0 and B0, region A and B in its corresponding reference template；
(3) calculate height error dh=corresponding to each areas combine (L0-L)/L*H and revise evaluation factor Q=H*res/L, wherein, L is the distance in picture frame between A0 and B0 of region, L0 is the actual range of region A and B in reference template, the present level that H provides for aircraft inertia navigation platform, res is the resolution that Current detector output image is corresponding；
(4) from the correction evaluation factor Q-value that multiple combinations are corresponding, reckling is selected, using the height error of its correspondence as optimum height error dh '；
(5) present level H is modified, obtains revised height H '=H+dh '.
A kind of image correction system of height error of navigating, including:
First module, for current image frame is mated with reference template, multiple local marking area in the picture frame of location；
Second module, for by multiple local marking area combination of two in picture frame, two regions in note combination are A0 and B0, region A and B in its corresponding reference template；
Three module, for calculating height error dh=(L0-L)/L*H corresponding to each combination and revising evaluation factor Q=H*res/L, wherein, L is the distance in picture frame between A0 and B0 of region, L0 is the actual range of region A and B in reference template, the present level that H provides for aircraft inertia navigation platform, res is the resolution that Current detector output image is corresponding；
4th module, selects reckling, using the height error of its correspondence as optimum height error dh for the correction evaluation factor Q-value corresponding from multiple combinations '；
5th module, for being modified present level H, obtains revised height H '=H+dh '.
The Advantageous Effects of the present invention is embodied in:
The present invention is directed to the deficiency of some relative altitude error correcting methods of application in imageable target recognizer, use multiple regions local feature matching result and standard reference information comprehensively to build geometric model, directly calculate height error numerical value.Use corresponding evaluation factor of revising that the accuracy of height error result of calculation is estimated simultaneously, thus the height error correction result of progressive acquisition high accuracy.
Accompanying drawing explanation
Fig. 1 is region of the present invention local feature coupling schematic diagram, and Fig. 1 (a) is picture frame local marking area schematic diagram, and Fig. 1 (b) is reference template local marking area schematic diagram；
Fig. 2 is height error Modified geometrical model schematic of the present invention；
Fig. 3 is that the present invention navigates the image correcting method flow chart of height error.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.As long as just can be mutually combined additionally, technical characteristic involved in each embodiment of invention described below does not constitutes conflict each other.
The image correcting method of a kind of height error of navigating that the present invention provides is based on image-region local feature matching technique in images steganalysis, the position of aircraft attitude information provided in conjunction with the Inertial Navigation Platform easily obtained, with optical detector shooting real time imaging and aircraft load reference template information as data source, complete navigate height error correction.
Before carrying out the present invention and being embodied as, first region local feature matching technique, height error corrected Calculation are illustrated in conjunction with accompanying drawing:
One, region local feature coupling
In image, local feature coupling in region refers to the scene information utilizing early stage investigation to obtain, choose wherein characteristic remarkable regional area, through feature extraction, encapsulation after as reference template (being stored in nonvolatile storage), then during aircraft flight, individual features in the region local feature described in reference template information and real time imaging is mated, thus obtain exact position in real-time detection image, this region.
As shown in Figure 1, reference template is that the Matching band scene information that early stage utilizes the investigations such as satellite to obtain is prepared, wherein A, B region is the region local feature of the characteristic remarkable chosen, during aircraft flight, A, B region local feature is mated in detector real time imaging, obtains corresponding region A0, B0.Region local feature coupling can use algorithms of different to realize (for example with region Cross Correlation Matching algorithm), it is therefore an objective to will find real-time matching region A0, the B0 in corresponding A, B region in detector real time imaging.
Two, height error and correction evaluation factor calculate
As in figure 2 it is shown, after completing a pair region local feature coupling, actual scene region A, B region A0, B0 in detector real time imaging can be obtained.Then the position and attitude information provided according to Inertial Navigation Platform, converts and draws detector position attitude information, in conjunction with detector field of view angle and picture size, can calculate distance L between A0, B0 point；The position and attitude information that elevation information H with error is provided by Inertial Navigation Platform is extracted；Actual range between A, B point is L0；Thus, the formula of computed altitude error is as follows:
Dh=(L0-L)/L*H (formula 1)
Wherein the calculating of L0 is obtained by pixel distance * pixel resolution (res) between A0, B0.
The computing formula revising evaluation factor is as follows:
Q=H*res/L (formula 2)
Q unit: rice/pixel (m/pix)
Wherein res is the resolution (unit: rice/pixel) that Current detector output image is corresponding, can calculate according to detector field of view angle, picture size and Current detector position and attitude information.With 256*256 picture size, 15 ° of * 15 ° of angles of visual field, 2km height, as a example by-80 ° of detector angle of pitch situations, res=H/sin (80 °) * tan (15 °/2)/(256/2).
Below in conjunction with Fig. 3 the step of the inventive method provided detailed description:
(1) current image frame is mated with reference template, multiple local marking area in the picture frame of location.
In real time imaging frame, the Computing Principle of region local feature such as leading portion " region local feature coupling " is introduced, and needs at least to complete the coupling of two region local features in real time imaging.
(2) by multiple local marking area combination of two in picture frame, two regions in note areas combine are A0 and B0, region A and B in its corresponding reference template；
(3) carry out height error calculating and revise evaluation factor calculating
Go out a height error correction result for each combination calculation and revise evaluation factor accordingly.
As a example by A0, B0 combine, calculate the height error correction result dh of correspondence respectively by formula one and formula two and revise evaluation factor Q.The calculating of height error correction result is by the comparison of respective regions local feature standard location information in local feature matching result in region in detector image and reference template, and the space geometry relation resolving of structure draws.Revise evaluation factor and refer to the calculating error of the height correction caused by matching result error of a pixel.In the case of characteristic matching stable accuracy, Q-value is the least, and height correction result precision is the highest.
(4) from the correction evaluation factor Q-value that multiple combinations are corresponding, reckling is selected, using the height error of its correspondence as optimum height error dh '；
(5) present level H is modified, obtains revised height H '=H+dh '.
Those skilled in the art is easy to understand; the foregoing is only presently preferred embodiments of the present invention; not in order to limit the present invention, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, should be included within the scope of the present invention.
Claims (2)
1. the image correcting method of a height error of navigating, it is characterised in that comprise the following steps:
(1) current image frame of detector shooting on aircraft is mated with reference template, multiple local marking area in the picture frame of location；
(2) by multiple local marking area combination of two in picture frame, two regions in note areas combine are A0 and B0, region A and B in its corresponding reference template；
(3) calculate height error dh=corresponding to each areas combine (L0-L)/L*H and revise evaluation factor Q=H*res/L, wherein, L is the distance in picture frame between A0 and B0 of region, L0 is the actual range of region A and B in reference template, and H is Current detector output resolution corresponding to image for the present level res that aircraft inertia navigation platform provides；
(4) from the correction evaluation factor Q-value that multiple combinations are corresponding, reckling is selected, using the height error of its correspondence as optimum height error dh '；
(5) present level H is modified, obtains revised height H '=H+dh '.
2. the image correction system of a height error of navigating, it is characterised in that including:
First module, for current image frame is mated with reference template, multiple local marking area in the picture frame of location；
Second module, for by multiple local marking area combination of two in picture frame, two regions in note combination are A0 and B0, region A and B in its corresponding reference template；
Three module, for calculating height error dh=(L0-L)/L*H corresponding to each combination and revising evaluation factor Q=H*res/L, wherein, L is the distance in picture frame between A0 and B0 of region, L0 is the actual range of region A and B in reference template, the present level that H provides for aircraft inertia navigation platform, res is the resolution that Current detector output image is corresponding；
4th module, selects reckling, using the height error of its correspondence as optimum height error dh for the correction evaluation factor Q-value corresponding from multiple combinations '；
5th module, for being modified present level H, obtains revised height H '=H+dh '.
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| CN109459046A (en) * | 2018-11-23 | 2019-03-12 | 杭州电子科技大学 | The positioning and air navigation aid of suspending underwater autonomous navigation device |
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| US8447116B2 (en) * | 2011-07-22 | 2013-05-21 | Honeywell International Inc. | Identifying true feature matches for vision based navigation |
| CN102426019B (en) * | 2011-08-25 | 2014-07-02 | 航天恒星科技有限公司 | Unmanned aerial vehicle scene matching auxiliary navigation method and system |
| CN104134209B (en) * | 2014-07-18 | 2018-04-10 | 北京国电富通科技发展有限责任公司 | A kind of feature extracting and matching method and system in vision guided navigation |
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