CN111006673A - Visual navigation system for simulating aircraft based on road sign and scene matching - Google Patents
Visual navigation system for simulating aircraft based on road sign and scene matching Download PDFInfo
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- CN111006673A CN111006673A CN202010006361.2A CN202010006361A CN111006673A CN 111006673 A CN111006673 A CN 111006673A CN 202010006361 A CN202010006361 A CN 202010006361A CN 111006673 A CN111006673 A CN 111006673A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
Abstract
The invention discloses a visual navigation system for matching a simulated aircraft based on road signs and scenes, wherein a user sends a track planning instruction, and a track planning module selects a terrain digital picture after receiving the track planning instruction; the output signal of the flight path planning module is input into the flight control module; the flight control module controls the flight path and generates a flight path through a flight path generator; the first path of output of the track generator is input into an inertial navigation module, the inertial navigation module obtains inertial navigation data through IMU data simulated by the track generator, the second path of output is input into a terrain and scene matching module, combined navigation data are obtained by using the IMU data simulated by the track generator, the third path of output is input into a road sign calibration module, and preset road signs are combined with the IMU data simulated by the combined track generator to output road sign navigation data; and matching the actual mapping image of the terrain scene matching module with the reference image, and outputting a matching result.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a visual navigation system for simulating an aircraft based on road signs and scene matching.
Background
The scene matching navigation technology is a technology for obtaining accurate positioning by utilizing a real-time image acquired by an aircraft in real time and a prestored scene reference image for matching calculation, and is widely applied to the fields of comprehensive navigation, accurate guidance, visual landing and the like. One of the main difficult problems of the scene matching navigation technology is the acquisition of the real-time map, because the real-time map is affected by various error factors under the real flight condition, so that there is a large difference between the real-time map and the reference map, and the interference factors affecting the real-time map mainly include the following points:
1. noise effects of the imaging system;
2. camera parameter errors;
3. the effect of the aircraft attitude and altitude information on the real-time map.
Currently, there are two main methods for acquiring a real-time image: a method for computer simulation includes intercepting partial image from reference image as reference sub-image, carrying out noise addition and deformation on reference sub-image and simulating to generate real-time image. Although the method is convenient to obtain, the interference factors of the real-time image are complex and influence each other, so that accurate mathematical modeling of the interference factors cannot be carried out at present, and the real-time image generated by simulation has larger difference with the real-time image under the real flight condition; the other method for acquiring the real-time image is to acquire the real-time image in real time under the flight condition, and the method has the advantages that the real-time image is completely real and credible, but the test cost is high, and large samples cannot be sampled in various regions due to the reasons of expense, airspace limitation and the like.
Therefore, how to provide a navigation system with low test cost and high real-time map reliability is a problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a visual navigation system based on road sign and scene matching for simulating an aircraft
In order to achieve the above purpose, the invention provides the following technical scheme:
a simulated aircraft landmark and scene matching based visual navigation system comprising: the system comprises a track planning module, a flight control module, a track generator, an inertial navigation module, a terrain and scene matching module and a road sign calibration module; a user sends a track planning instruction, and after the track planning module receives the track planning instruction, the track planning module selects a terrain digital picture; the output signal of the flight path planning module is input into the flight control module; the flight control module controls a flight path and generates a flight path through a flight path generator; the first path of output of the track generator is input into the inertial navigation module, the inertial navigation module obtains inertial navigation data through IMU data simulated by the track generator, the second path of output is input into the terrain and scene matching module, combined navigation data is obtained by using the IMU data simulated by the track generator, the third path of output is input into the road sign calibration module, and the preset road sign is combined with the IMU data simulated by the combined track generator to output road sign navigation data; and matching the actual mapping image of the terrain scene matching module with the reference image, and outputting a matching result.
Preferably, the visual navigation system based on road sign and scene matching for the simulated aircraft further comprises an image display module, the image display module is connected with the track planning module, the geographical position of the terrain picture is set in the track planning module, the route point in the terrain area is selected, the route point information of the terrain area is obtained, the track planning is completed, and the route point information is displayed in the image display module.
Preferably, in the above vision navigation system based on road sign and scene matching for the simulated aircraft, the flight control module calculates a course angle between the current course point and the next course point, compares the course angle with a course angle output by current navigation, and adjusts a course angle rate simulation value in the IMU simulation of the course generator according to a course difference value, thereby controlling the flight course.
Preferably, in the above system for visual navigation based on road sign and scene matching for a simulated aircraft, the road sign calibration module calibrates the digital topographic picture, and sets a road sign at the center of gravity of the digital topographic picture; and carrying out infinite segmentation on the terrain digital picture and the flight track to obtain a series of terrain digital sub-pictures which are overlapped with the flight track.
Preferably, in the above vision navigation system based on road sign and scene matching for a simulated aircraft, the terrain and scene matching module acquires a real-time map, calls a terrain digital sub-picture to search in the real-time map, acquires errors of flight trajectories of the real-time map and the reference map, and feeds back the errors to the flight control module to correct the flight trajectories.
Preferably, in the above-mentioned vision navigation system based on road sign and scene matching for a simulated aircraft, the error calculation process includes: the actual flight path is decomposed into a horizontal direction and a vertical direction; and obtaining a road sign closest to the flight trajectory according to the horizontal direction and the vertical direction of the flight trajectory, and correcting if the road sign navigation data superposed with the flight trajectory has deviation.
Preferably, in the above visual navigation system based on road sign and scene matching for a simulated aircraft, the image display module includes a two-dimensional track local display module, a two-dimensional track global display module, a three-dimensional navigation display module, and a visualized data display module.
According to the technical scheme, compared with the prior art, the visual navigation system based on the road sign and scene matching for the simulated aircraft can load pictures in any format according to the needs of users to plan flight tracks, can register the flight track files by adopting two methods of time and route points, is convenient for the users, can reliably simulate flight track data and IMU data according to the flight track files, matches a real mapping image and a reference image by using the scene matching method, corrects the flight track deviation between the real mapping image and the reference image by using the road sign navigation data, and can visually see the matching result and the corrected inertial navigation result by using a visual two-dimensional display interface. The system also has the functions of storing and displaying the flight path data, the inertial navigation data and the matching result data, and is convenient for data analysis after simulation. Meanwhile, the system has a good man-machine operation interface.
Drawings
FIG. 1 is a block diagram illustrating the structure of the present invention;
fig. 2 is a schematic flow diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a visual navigation system for simulating an aircraft based on road sign and scene matching, which can load pictures with any format according to the needs of users to plan flight tracks, can register track files by adopting two methods of time and route points, is convenient for the users, can reliably simulate track data and IMU data according to the track files, matches a real mapping image and a reference image by a scene matching method, corrects the flight track deviation between the real mapping image and the reference image by road sign navigation data, and can visually see a matching result and correct an inertial navigation result by a visual two-dimensional display interface. The system also has the functions of storing and displaying the flight path data, the inertial navigation data and the matching result data, and is convenient for data analysis after simulation. Meanwhile, the system has a good man-machine operation interface.
A simulated aircraft landmark and scene matching based visual navigation system, as shown in fig. 1, comprising: the system comprises a track planning module, a flight control module, a track generator, an inertial navigation module, a terrain and scene matching module and a road sign calibration module; a user sends a track planning instruction, and after a track planning module receives the track planning instruction, the track planning module selects a terrain digital picture; the output signal of the flight path planning module is input into the flight control module; the flight control module controls the flight path and generates a flight path through a flight path generator; the first path of output of the track generator is input into an inertial navigation module, the inertial navigation module obtains inertial navigation data through IMU data simulated by the track generator, the second path of output is input into a terrain and scene matching module, combined navigation data are obtained by using the IMU data simulated by the track generator, the third path of output is input into a road sign calibration module, and preset road signs are combined with the IMU data simulated by the combined track generator to output road sign navigation data; and matching the actual mapping image of the terrain scene matching module with the reference image, and outputting a matching result.
In another embodiment, the navigation system further comprises an image display module, wherein the image display module is connected with the track planning module, the geographical position of the terrain picture is set in the track planning module, the waypoint in the terrain area is selected, the waypoint information of the terrain area is obtained, the track planning is completed, and the image display module displays the track.
In order to further optimize the technical scheme, the flight control module calculates the course angle between the current course point and the next course point, compares the course angle with the course angle output by the current navigation, and adjusts the course angle rate simulation value in the IMU simulation of the flight path generator according to the course difference value so as to control the flight path.
In order to further optimize the technical scheme, the landmark calibration module calibrates the topographic digital picture, and a landmark is set at the gravity center of the topographic digital picture; and carrying out infinite segmentation on the terrain digital picture and the flight track to obtain a series of terrain digital sub-pictures which are overlapped with the flight track.
In order to further optimize the technical scheme, the terrain and scene matching module acquires the real mapping image, calls a terrain digital sub-image to search in the real mapping image, acquires errors of flight trajectories of the real mapping image and the reference image, and feeds the errors back to the flight control module to correct the flight trajectories.
In order to further optimize the above technical solution, the error calculation process includes: the actual flight path is decomposed into a horizontal direction and a vertical direction; and obtaining a road sign closest to the flight trajectory according to the horizontal direction and the vertical direction of the flight trajectory, and correcting if the road sign navigation data superposed with the flight trajectory has deviation.
In order to further optimize the technical scheme, the image display module comprises a two-dimensional track local display module, a two-dimensional track global display module, a three-dimensional navigation display module and a visual data display module.
Claims (7)
1. A simulated aircraft landmark and scene matching based visual navigation system comprising: the system comprises a track planning module, a flight control module, a track generator, an inertial navigation module, a terrain and scene matching module and a road sign calibration module; a user sends a track planning instruction, and after the track planning module receives the track planning instruction, the track planning module selects a terrain digital picture; the output signal of the flight path planning module is input into the flight control module; the flight control module controls a flight path and generates a flight path through a flight path generator; the first path of output of the track generator is input into the inertial navigation module, the inertial navigation module obtains inertial navigation data through IMU data simulated by the track generator, the second path of output is input into the terrain and scene matching module, combined navigation data is obtained by using the IMU data simulated by the track generator, the third path of output is input into the road sign calibration module, and the preset road sign is combined with the IMU data simulated by the combined track generator to output road sign navigation data; and matching the actual mapping image of the terrain scene matching module with the reference image, and outputting a matching result.
2. The system of claim 1, further comprising an image display module, wherein the image display module is connected to the track planning module, the track planning module sets the geographic location of the terrain image, and selects the waypoint in the terrain area to obtain the waypoint information in the terrain area, and completes the track planning and displays the waypoint information in the image display module.
3. The system of claim 1, wherein the flight control module calculates a course angle between a current course point and a next course point, compares the calculated course angle with a course angle output by current navigation, and adjusts a course angle rate simulation value in the IMU simulation of the course generator according to a course difference value, thereby controlling the flight course.
4. The system of claim 1, wherein the landmark calibrating module calibrates the topographic digital picture to set a landmark at the center of gravity of the topographic digital picture; and carrying out infinite segmentation on the terrain digital picture and the flight track to obtain a series of terrain digital sub-pictures which are overlapped with the flight track.
5. The visual navigation system for matching the simulated aircraft based on the road signs and the scenes as claimed in claim 4, wherein the terrain scene matching module acquires a real map, calls a terrain digital sub-picture to search in the real map, acquires errors of flight trajectories of the real map and the reference map, and feeds the errors back to the flight control module to correct the flight trajectories.
6. The system of claim 5, wherein the error calculation process comprises: the actual flight path is decomposed into a horizontal direction and a vertical direction; and obtaining a road sign closest to the flight trajectory according to the horizontal direction and the vertical direction of the flight trajectory, and correcting if the road sign navigation data superposed with the flight trajectory has deviation.
7. The system of claim 2, wherein the image display module comprises a two-dimensional track local display module, a two-dimensional track global display module, a three-dimensional navigation display module, and a visual data display module.
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| CN113269100A (en) * | 2021-05-27 | 2021-08-17 | 南京航空航天大学 | Vision-based aircraft offshore platform landing flight visual simulation system and method |
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