KR101208448B1 - Aided navigation apparatus using 3 dimensional image and inertial navigation system using the same - Google Patents

Abstract

An inertial navigation system according to the present invention includes an inertial navigation device for calculating a current position of a vehicle, an image sensor installed on the aircraft, and an image sensor for photographing a ground target having position information, and the image sensor for the ground target. A three-dimensional image assistance navigation apparatus that calculates the positional error between the actual current position and the calculated current position through the viewing angle measurement value, and each factor used for calculating the positional information error that minimizes its own error of the calculated positional information error. By including an induction control device for extracting the optimum condition of the vehicle and controlling the vehicle to perform a motion in accordance with the extracted optimal condition, it is possible to reliably determine the current position.

Description

Three-Dimensional Auxiliary Navigation System and Inertial Navigation System Using It {AIDED NAVIGATION APPARATUS USING 3 DIMENSIONAL IMAGE AND INERTIAL NAVIGATION SYSTEM USING THE SAME}

The present invention relates to a three-dimensional image assistance navigation apparatus and an inertial navigation system using the same. More particularly, the three-dimensional image assistance navigation apparatus can correct an error of an inertial navigation system using three-dimensional coordinates of a ground target photographed by an image sensor. An image assistance navigation apparatus and an inertial navigation system using the same.

In general, as the operation time increases, the error of the inertial navigation system tends to accumulate and diverge. In this case, the inertial navigation system cannot continue its role as a navigation system. In order to prevent this, it is necessary to periodically correct the error of the inertial navigation system by using other auxiliary sensors and means, and the following methods have been conventionally used.

  The first is to apply satellite assisted navigation. The most representative form is the use of GPS receivers to complement the inertial navigation system. Recently, commercial satellite systems for navigation have increased, and GNSS assisted navigation using all of the satellite systems has been stably implemented. However, in case of emergency, the use of such a commercial satellite system output may be limited, and it is difficult to operate in a hostile region because it is easy to jam the satellite signal of the satellite system used.

The second method is to apply auxiliary navigation using an image sensor. The most typical form is a digital scene matching area correlation that locates an orthogonal image of a lower feature by placing an image sensor directly below the aircraft and compares it with previously acquired features. There is a way. It is very useful because it can secure the reliability of satellite assisted navigation level and is fundamentally difficult to jam. However, this method has a disadvantage in that three-dimensional position information cannot be obtained because it is not easy to observe information in the downward axis, that is, the elevation axis direction.

The present invention is to provide a three-dimensional image assistance navigation apparatus and a inertial navigation system using the same to correct the error of the inertial navigation system using the three-dimensional coordinates of the ground target photographed by the image sensor.

Technical problems to be achieved by the present invention are not limited to the above-mentioned problems, and other technical problems not mentioned above may be clearly understood by those skilled in the art from the following description. There will be.

The inertial navigation device of the present invention for achieving the above object is an inertial navigation device for calculating the current position of the aircraft, an image sensor installed on the aircraft to shoot the ground target knowing the position information, the image of the ground target A three-dimensional image assistance navigation apparatus that calculates a position information error between the actual current position and the calculated current position through visual angle measurement values at two points of the sensor, and the position information error that minimizes its own error of the calculated position information error. It may include an induction control device for extracting the optimum condition of each factor used in the calculation, and controlling the vehicle to perform a motion that matches the extracted optimum condition.

로부터 현재 위치 M₂와 상기 T까지의 거리 R_P를 산출하는 지상 목표물 거리 산출부 및 관성 항법 장치에서 산출된 현재 위치 G₂와 상기 T 및 상기 R_P를 이용해 상기 G₂와 상기 M₂의 위치 정보 오차를 산출하는 위치 정보 오차 산출부를 포함할 수 있다.The three-dimensional image assisted navigation apparatus of the present invention has a viewing angle λ ₁ at two points (past position M ₁ , current position M ₂ ) on the travel path with respect to the T of the image sensor photographing the ground target knowing the position information T. , λ ₂ and the distance between the two points

Here M ₂ and the distance to the T R _P the current position calculated by the ground targets distance calculating section and the inertial navigation system for calculating the G ₂ and wherein T and the location of the M ₂ and wherein G ₂ with the R _P from It may include a position information error calculation unit for calculating the information error.

In this case, the position information error calculating unit may calculate the position information error by the following equation.

는 상기 M₂를 시작점으로 하고 상기 T를 끝점으로 하는 벡터의 단위 벡터이다. here,

Is a unit vector of a vector having M ₂ as a starting point and T as an end point.

의 자체 오차 δR_P를 다음의 수학식에 의해 산출하고, 상기 δR_P를 최소화하는 상기

산출에 사용되는 각 인자들의 최적 조건을 추출하는 최적 조건 추출부 및 상기 추출된 최적 조건에 부합하는 운동을 하도록 상기 3차원 영상 보조 항법 장치가 설치된 비행체를 제어하는 자세 제어부를 포함할 수 있다.Induction control apparatus of the present invention is the position information error calculated by the three-dimensional image assistance navigation apparatus

The error of the self δR _P calculated by the following equation, and to minimize the δR _P

It may include an optimum condition extracting unit for extracting the optimal condition of each factor used in the calculation, and a posture control unit for controlling the aircraft in which the three-dimensional image assistance navigation apparatus is installed to perform a motion corresponding to the extracted optimal condition.

here,

이고,

ego,

이며,

Is,

이고,

ego,

이며,

Is,

이고,

ego,

이며,

Is,

이고,

ego,

이며,

Is,

이다.

to be.

As described above, the three-dimensional assisted navigation apparatus according to the present invention and the inertial navigation system using the same are obtained from the actual current position to the ground target by using the difference of the viewing angle at two points with respect to the ground target having the position information. The distance may be calculated, and the position information error between the actual current position and the current position calculated by the inertial navigation apparatus may be calculated using the calculated distance.

By using the calculated position information error, the cumulative error of the inertial navigation apparatus can be reliably reduced in three dimensions.

Furthermore, a condition for minimizing the error of the calculated position information error itself due to the error of each factor used for calculating the position information error, for example, the error of the image sensor, is extracted, and the aircraft is operated to meet this condition. By guiding / controlling so that an optimal position information error can be calculated.

1 is a block diagram showing an inertial navigation system of the present invention.
Figure 2 is a schematic diagram showing the operating geometry made in the three-dimensional image assistance navigation apparatus of the present invention.
3 is a flow chart showing three-dimensional image assistance navigation of the present invention.

Hereinafter, a 3D image assisted navigation apparatus and an inertial navigation system using the same will be described in more detail with reference to the accompanying drawings.

1 is a block diagram showing an inertial navigation system of the present invention.

The inertial navigation system shown in FIG. 1 includes an inertial navigation device 170 that calculates a current position of a vehicle, an image sensor 110 installed on the vehicle, and photographing a ground target having position information, and the ground target. The three-dimensional image assistance navigation apparatus 130 for calculating the position information error between the actual current position and the calculated current position through visual angle measurement values at two points of the image sensor and minimizing its own error of the calculated position information error It includes an induction control device 150 for extracting the optimum condition of each factor used for the position information error calculation, and for controlling the vehicle to perform a motion in accordance with the extracted optimum condition.

The inertial navigation system 170 (inertial navigation system) is a navigation device used for a vehicle such as a long-range rocket or an airplane to calculate the current position of the vehicle. Gyro is used to make a reference table that maintains a constant attitude to the inertial space, and a precision accelerometer is mounted on it to mount the device on the aircraft. By integrating the acceleration in the three axial directions twice from the moment of oscillation to an arbitrary time, the flight distance is obtained, and thus the current position can be known. This device is especially important for military purposes in that it does not require any other assistance and has the ability to determine its position and is free from external disturbances. Originally developed as a missile guidance device (a few minutes of induction), it is also mounted on aircraft with up to 10 hours of flight time with improved precision, with an error of 10 km at thousands of kilometers. . These errors are quite small, but if precise navigation is required, these errors can cause serious problems. Therefore, in order to minimize the error of such an inertial navigation apparatus, an auxiliary navigation apparatus is used, and in the present invention, a 3D image auxiliary navigation apparatus is used.

The image sensor 110 is a device that provides a shape of a target as an image or data using light waves. Target information is obtained using the visible wavelength region and the optical wavelength bands of ultraviolet and infrared rays which are invisible to the eye. The image sensor is installed on the aircraft together with the inertial navigation device 170, the 3D video assisted navigation device 130, and the induction control device 150 to photograph a ground target having 3D location information. The object photographed by the image sensor is a ground target, and the position information of the ground target photographed should be known in advance. To this end, the aircraft in which the inertial navigation system of the present invention is installed may include storage means for storing position information of the ground target obtained in advance through satellite imaging. The apparatus may further include image matching means for determining whether the stored ground target and the ground target photographed by the image sensor are the same. In general, the aircraft is not fixed at a certain position but is flying at high speed, so the ground target may be changed to another ground target that can be photographed at the current position of the vehicle.

The three-dimensional image assistance navigation apparatus 130 measures the viewing angles at two points of the image sensor with respect to the ground target captured by the image sensor, and the actual current position (real current position) and the inertial navigation through the measured viewing angles. The position information error of the current position calculated by the device is calculated. The present invention requires a viewing angle at two points on the vehicle path, one of which is the current location.

The vehicle may include a plurality of image sensors installed at different positions, in which case the two points of the image sensors are positions of two image sensors installed at different positions at the current time. If only one image sensor is installed in the aircraft, or if only one image sensor is used among the plurality of image sensors, the image sensor position at the current position of the aircraft and the image sensor position at the position of the aircraft before a predetermined time are displayed. There are two points on the sensor. Hereinafter, both points will be referred to as two points on the driving route.

Knowing the location information of the ground target and each of the angles and the lengths of the sides of the triangular plane formed by the two points on the driving route, the lengths of the remaining angles and the remaining sides can be known. The distance between the two points is the distance between the corresponding sensors when using two image sensors installed at different positions, and the distance between the position before the predetermined time and the position of the current time calculated by the inertial navigation apparatus when using one image sensor.

From the sides of the triangle, the image sensor of the current position (the reference image sensor when using two images) is used as the starting point, and the vector is the ground target as the end point, and the current position calculated by the inertial navigation system is used as the starting point. The difference in the vector is the positional information error of the inertial navigation apparatus.

Such an algorithm is not a problem mathematically, but a problem occurs due to the error of each factor in the actual application. For example, there may be an error in the viewing angle due to an error of the image sensor itself. In this case, an error is included in the distance calculation from the image sensor of the current position to the ground target.

In order to minimize the self error of the position information error, the induction control device is used.

The induction control device 150 extracts an optimum condition of each factor used for calculating position information error in the 3D image assistance navigation apparatus and controls the vehicle to induce a motion corresponding to the extracted optimum condition. The self error of the position information error may be minimized according to the motion state of the vehicle. For this purpose, the induction control device does not compensate for the error of the positional error later, but extracts the optimum condition of each factor that can minimize the error of the positional error in advance and adjusts the movement of the aircraft to meet the optimum condition. To control. The control at this time can be done automatically or in the form of inducing manual control by recommending to the pilot.

Hereinafter, the 3D image assisted navigation apparatus 130 will be described with reference to FIGS. 1 and 2.

Figure 2 is a schematic diagram showing the operating geometry of the three-dimensional image assistance navigation apparatus of the present invention.

로부터 현재 위치 M₂와 상기 T까지의 거리 R_P를 산출하는 지상 목표물 거리 산출부(131) 및 관성 항법 장치(170)에서 산출된 현재 위치 G₂와 상기 T 및 상기 R_P를 이용해 상기 G₂와 상기 M₂의 위치 정보 오차를 산출하는 위치 정보 오차 산출부(133)를 포함하고 있다. 참고로, 각 인자의 상부에 표시되는 기호 '~'는 관성 항법 장치 또는 영상 센서에 의해 측정되어지는 값을 의미하는 것으로 한다. 예를 들어

는 관성 항법 장치에 의해 산출된 거리로 기기 자체의 오차값을 포함할 수 있다.The three-dimensional image assisted navigation apparatus 130 has a line of sight at two points (past position M ₁ , current position M ₂ ) on the travel path of the T of the image sensor 110, which photographs the ground target knowing the position information T. Λ ₁ , λ ₂₁ of the triangular plane M ₁ M ₂ T calculated from each measurement and the distance between the two points

The G ₂ using the current position G ₂ calculated by the ground target distance calculating unit 131 and the inertial navigation device 170 calculating the distance R _P from the current position M ₂ to the T to the G and the R _P. And a position information error calculator 133 for calculating the position information error of M ₂ . For reference, the symbol '~' displayed on the upper part of each factor means a value measured by an inertial navigation apparatus or an image sensor. E.g

The distance calculated by the inertial navigation apparatus may include an error value of the device itself.

(방위각),

(고각)를 이용한다.

,

은 영상 센서에서 측정된 값으로 영상 센서의 자체 오차값을 포함할 수 있다.The ground target distance calculator 131 calculates the distance R _P between the current position M ₂ and the ground target T. M ₂ is the current position (if one image sensor is used) or the position of the reference sensor at the current time (if two image sensors are used) of two points on the travel route. In order to calculate R _P , the internal angles λ ₁ and λ ₂₁ of the triangular plane M ₁ M ₂ T must be calculated.

(azimuth),

Use (elevation).

,

Is a value measured by the image sensor and may include a self error value of the image sensor.

(시선측정위치간 벡터),

(1차 시선벡터),

(2차 시선벡터)를 각각 정의함으로써, 패시브 레인징(passive ranging) 운용 개념을 공간 평면상에서 적용할 수 있다. 즉, 두 시선 측정 위치에서의 영상 센서의 시선각 출력

,

들을 이용하여 공간상의 삼각평면 M₁M₂T에 대한 내각 λ₁과 λ₂₁을 계산하고 관성 항법 장치의 출력을 이용한 기준 거리정보

를 이용함으로써 위치 정보 T를 갖는 표적까지의 실제 거리 정보 R_P를 추산하여 관성 항법 장치에서 산출된 항법 정보(G₁, G₂)의 오차

를 계산할 수 있다.Specifically, as shown in FIG. 2, the unit vector in space in the reference coordinate system {X _G , Y _G , Z _G }

(Vector between eyeball measuring positions),

(Primary eye vector),

By defining each of the (secondary gaze vectors), the concept of passive ranging operation can be applied on the space plane. That is, the viewing angle output of the image sensor at two viewing position

,

Calculate the internal angles λ ₁ and λ ₂₁ with respect to the triangular plane M ₁ M ₂ T in space and reference distance information using the output of the inertial navigation system.

The error of the navigation information G ₁ , G ₂ calculated by the inertial navigation apparatus by estimating the actual distance information R _P to the target having the position information T by using

Can be calculated.

을 구할 수 있다. First, by ignoring the navigation error change for a sufficiently small time,

Can be obtained.

Here, G ₁ is a current position before a predetermined time calculated by the inertial navigation apparatus, that is, a past position, and G ₂ is a current position calculated by the inertial navigation apparatus.

The unit gaze vectors on the reference coordinate system are calculated using the viewing angle information of the image sensor converted to the reference coordinate system as shown in Equation 2 below.

은 과거 위치 M₁에서의 고각이고,

는 과거 위치 M₁에서의 방위각이다.

는 현재 위치 M₂에서의 고각이고,

는 현재 위치 M₂에서의 방위각이다.here,

Is the elevation at the past position M ₁ ,

Is the azimuth at the past position M ₁ .

Is the elevation at the current position M ₂ ,

Is the azimuth angle at the current position M ₂ .

과

간의 각도)과 λ₂₁(

와

간의 각도)을 구할 수 있다.Using the dot product of the unit vectors as shown in Equation 3, the desired internal angle λ ₁ (

and

Angle) and λ ₂₁ (

Wow

Liver angle) can be obtained.

The spatial distance R _P that can be estimated by the three-dimensional passive ranging concept is expressed by Equation 4 below.

는 두 측정 시점간의 단기간에 대한 항법 결과이므로, 누적되어온 항법 오차와 무관하게 상대적으로 매우 정확한 거리정보로 활용될 수 있다.Where the reference distance information as an output of the inertial navigation device

Since is a navigation result for a short period between two measurement points, it can be used as a relatively very accurate distance information regardless of the accumulated navigation error.

은 수학식 1에 의해 지상 목표물 거리 산출부(131)에서 산출될 수도 있으나, 관성 항법 장치로부터 전달받을 수도 있다. G₁, G₂에 의해 용이하게 산출될 수 있는

도 마찬가지로 지상 목표물 거리 산출부에서 산출될 수 있으며, 관성 항법 장치로부터 전달받을 수도 있다. 다만, 관성 항법 장치로부터 G₁, G₂만이 출력되는 경우 지상 목표물 거리 산출부는 유도 제어 장치에서 필요로 하는

를 산출하여 유도 제어 장치로 전달할 수 있다.Meanwhile,

May be calculated by the ground target distance calculator 131 by Equation 1, or may be transmitted from the inertial navigation apparatus. Can be easily calculated by G ₁ , G ₂

Similarly, the ground target distance calculator may be calculated or may be transmitted from the inertial navigation apparatus. However, when only G ₁ and G ₂ are output from the inertial navigation device, the ground target distance calculation unit is required by the induction control device.

It can be calculated and delivered to the induction control device.

를 다음의 수학식 5와 같이 구할 수 있다.Using the calculated R _P , the position information error calculator 133 may calculate the navigation error space vector on the reference coordinate system.

Can be obtained as in Equation 5 below.

는 상기 M₂를 시작점으로 하고 상기 T를 끝점으로 하는 벡터의 단위 벡터이고,here,

Is a unit vector of a vector having M ₂ as a starting point and T as an end point,

G ₂ is the current position calculated by the inertial navigation system,

T is the position of the ground target,

R _P is the distance from M ₂ to T.

Each factor required in Equation 5 may be received from the ground target distance calculator. Alternatively, the necessary factors may be calculated by using the calculated or measured values from the inertial navigation apparatus and the image sensor. In addition, T is received from a storage means (not shown) that acquires and stores the position information of the ground target in advance.

를 산출해두면 일정 시간 동안 신뢰성 있는 현재 위치의 파악이 가능하다.By subtracting the error calculated in this way from the current position G ₂ calculated by the inertial navigation apparatus 170, it is possible to grasp the corrected position information, that is, the actual current position. The actual current position thus identified is input to the induction control device 150 and is processed according to the processing method of the existing induction control device. The actual current position can be determined by the image sensor, but for this purpose, a ground target that knows the position information T must always exist and a movement for accurate viewing angle and elevation measurement is required. In the actual operation, such conditions are not always fully equipped, so in accordance with the present invention in a certain section

If you calculate, you can find the current position reliably for a certain time.

Although the navigation error space vector estimation result is mathematically perfect, in actual application, it is calculated based on several measurements, so that the error included in the measurements, for example, the error of the image sensor itself, is inferior to the navigation error estimation result. It acts as an error factor. This error characteristic varies rapidly according to the geometrical conditions of the triangular plane M ₁ M ₂ T in space, that is, the absolute size and relative size difference between the interior angles λ ₁ and λ ₂₁ . There is a need for a method for finding an adaptive geometry that can minimize errors. In this way, the induction control device 150 is used.

의 자체 오차 δR_P를 산출하고, δR_P를 최소화하는 상기

산출에 사용되는 각 인자들의 최적 조건을 추출하는 최적 조건 추출부(151) 및 추출된 최적 조건에 부합하는 운동을 하도록 3차원 영상 보조 항법 장치가 설치된 비행체를 제어하는 자세 제어부(153)를 포함할 수 있다.Induction control device 150 is the position information error calculated by the three-dimensional image assistance navigation apparatus 130

Calculating its own error δR _P , and minimizing δ R _P

An optimum condition extracting unit 151 for extracting an optimal condition of each factor used for the calculation and a posture control unit 153 for controlling a vehicle in which a 3D image assisted navigation apparatus is installed to perform a motion corresponding to the extracted optimal condition. Can be.

The optimal condition extractor 151 analyzes and improves the adaptiveness of the operating geometry of the adaptive method that can minimize the error used to extract the optimal condition of each factor from the viewpoint of error propagation. The passive ranging error propagation relation required for the ability to change the geometrical condition in the possible direction is shown in Equation 6 below.

here,

이고,

ego,

이며,

Is,

이고,

ego,

이며,

Is,

이고,

ego,

이며,

Is,

이고,

ego,

이며,

Is,

이고,

ego,

은 과거 위치 M₁에서의 고각이며,

Is the elevation at the past position M ₁ ,

는 과거 위치 M₁에서의 방위각이고,

Is the azimuth at the past position M ₁ ,

는 현재 위치 M₂에서의 고각이며,

Is the elevation at the current position M ₂ ,

는 현재 위치 M₂에서의 방위각이다.

Is the azimuth angle at the current position M ₂ .

는 공간 거리 추산 결과의 오차이고,

와

는 영상 센서의 시선각 측정 오차를 의미한다. 정확하게는

는 R_P의 오차이나, 위치 정보 오차

산출에 R_P가 이용되므로

를 위치 정보 오차 자체의 오차로 지칭하였다.

와

의 우측 아래 첨자의 각 숫자 1, 2는 과거 위치와 현재 위치를 나타낸다.In the error transfer relation above

Is the error of the spatial distance estimation result,

Wow

Denotes a visual angle measurement error of the image sensor. Precisely

Is the error of R _P or the error of position information

Since R _P is used for the calculation

Is referred to as the error of the location information error itself.

Wow

Each number 1 and 2 in the lower right subscript of indicates the past position and the present position.

) 및 모니터링할 수 있으므로, 오차를 더욱 최소화하는 방향(추정하고 있는 오차 전달 계수가 작아지는 방향)으로 운용 기하를 변경하는 적응 방식의 운용을 가능하게 한다.According to the error propagation relation, that is, Equation 6, the effect of the error of the line of sight measurement at the first and second measurement points on the spatial distance estimation result is separated into four error propagation coefficients W ₁ , W ₂ , W ₃ , and W ₄ . It can be interpreted. Using this equation, we can find the operating geometric conditions to minimize the error of the result of estimating the spatial distance. In other words, it is possible to predict the spatial distance estimation performance (consequently the auxiliary navigation performance) of the image sensor operating geometry previously planned for the element / view point error factors of the image sensor. The most significant meaning of this error propagation equation is to estimate the error propagation coefficient corresponding to the operation geometry by using the measurements of each physical quantity in real time even during unmanned system operation.

And monitoring, which enables the operation of an adaptive method that changes the operating geometry in a direction that further minimizes the error (a direction in which the estimated error transfer coefficient decreases).

The attitude controller 153 operates a vehicle according to an adaptation method of changing an operation geometry in a direction of minimizing its own error of position information error calculated by the 3D image assistance navigation apparatus. Since the viewing angle of the image sensor shows a large difference according to the operation of the vehicle, the attitude controller controls the image sensor indirectly. Control performed by the posture control unit may be automatically performed, and in some cases, manual control may be induced by displaying an appropriate operation method to the pilot.

3 is a flowchart illustrating a three-dimensional image assisted navigation of the present invention. The 3D image assistance navigation shown in FIG. 3 may be described as the operation of the 3D image assistance navigation apparatus and the induction control apparatus shown in FIG. 1.

First, the image sensor 110 installed in the vehicle to shoot the ground target knowing the position information T (S 510).

로부터 현재 위치 M₂와 상기 T까지의 거리 R_P를 산출한다(S 520). 구체적으로 3차원 영상 보조 항법 장치 내에 포함된 지상 목표물 거리 산출부(131)에서 수행된다.The angle λ of the triangular plane M ₁ M ₂ T calculated from the viewing angle measurements at two points (past position M ₁ , current position M ₂ ) of the image sensor with respect to T in the 3D image assistance navigation apparatus 130. ₁ , λ ₂₁ and the distance between the two points

The distance R _P between the current position M ₂ and the T is calculated at step S520. In more detail, the ground target distance calculator 131 included in the 3D image assistance navigation apparatus is performed.

를 수학식 5에 의해 산출한다(S 530). 이와 같은 동작은 3차원 영상 보조 항법 장치 내의 위치 정보 오차 산출부(133)에서 수행된다.Position information error of the G ₂ and the M ₂ in the 3D image assistance navigation apparatus using the current position G ₂ and the T and the R _P calculated by the inertial navigation apparatus 170.

Is calculated by the equation (5) (S530). This operation is performed by the position information error calculator 133 in the 3D image assistance navigation apparatus.

Thereafter, the following process may be additionally performed to minimize the error of the position information error itself as necessary.

의 자체 오차 δR_P를 수학식 6에 의해 산출하고, 상기 δR_P를 최소화하는 상기

산출에 사용되는 각 인자들의 최적 조건을 추출한다(S 540). 유도 제어 장치의 최적 조건 추출부(151)에서 수행되는 동작이다.The calculated in the induction control device 150

The self error of δ R _P is calculated by Equation 6, and the δ R _P is minimized.

The optimal condition of each factor used in the calculation is extracted (S540). This operation is performed by the optimum condition extractor 151 of the induction control apparatus.

The vehicle is controlled to perform the movement in accordance with the extracted optimal condition in the induction control device (S550). This operation is performed by the posture control unit of the induction control apparatus.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the embodiments described above are to be considered in all respects only as illustrative and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

Applicable to the inertial navigation system that needs to know the current position reliably.

In particular, it is advantageous to apply to an inertial navigation apparatus that performs auxiliary navigation through an image sensor.

110 ... Image Sensor 130 ... Three-Dimensional Assist Navigation System
131 Ground target distance calculator 133 Position information error calculator
150 ... Induction control unit 151 ... Optimum extractor
153 Position Control 170 Inertial Navigation Unit

Claims (6)

delete Triangular plane M ₁ M ₂ T calculated from the viewing angle measurement at two points (past position M ₁ , current position M ₂ ) on the travel path of the image sensor photographing a ground target knowing the position information T. Of the angles λ ₁ , λ ₂₁ and the two points

A ground target distance calculator for calculating a distance R _P from the current position M ₂ to the T; And
A position information error calculator configured to calculate position information errors of the G ₂ and the M ₂ using the current position G ₂ , the T, and the R _P calculated by an inertial navigation apparatus;
3D image assistance navigation apparatus comprising a.
The method of claim 2,
The position information error calculating unit uses the following equation to determine the position information error

3D image assistance navigation apparatus, characterized in that for calculating.

here,

Is a unit vector of a vector having M ₂ as a starting point and T as an end point.
Position Information Error Calculated by 3D Assist Navigation System

The error of the self δR _P calculated by the following equation, and to minimize the δR _P

An optimum condition extraction unit for extracting an optimum condition of each factor used for the calculation; And
A posture control unit configured to control a vehicle in which the 3D image assistance navigation apparatus is installed to perform a motion corresponding to the extracted optimal condition;
Induction control device comprising a.

here,

ego,

Is,

ego,

Is,

ego,

Is,

ego,

Is,

ego,

Is the elevation at the past position M ₁ ,

Is the azimuth at the past position M ₁ ,

Is the elevation at the current position M ₂ ,

Is the azimuth at the current position M ₂ ,

Wow

Is the visual angle measurement error of the image sensor,

Wow

Each number 1 and 2 in the lower right subscript of indicates the past position and the present position.
Photographing a ground target that knows the position information T in an image sensor installed in the vehicle;
Internal angle of the triangular plane M ₁ M ₂ T calculated from the viewing angle measurements at two points (past position M ₁ , current position M ₂ ) of the image sensor with respect to the T in a three-dimensional image assistance navigation apparatus λ ₁ , λ ₂₁ and the distance between the two points

Calculating a distance R _P from the current position M ₂ to the T; And
Position information error of the G ₂ and the M ₂ in the three-dimensional image assistance navigation apparatus using the current position G ₂ and the T and the R _P calculated by the inertial navigation apparatus

Calculating by the following equation;
3D video assisted navigation comprising a.

here,

Is a unit vector of a vector having M ₂ as a starting point and T as an end point.
The method of claim 5, wherein
Calculated in the induction control device

The error of the self δR _P calculated by the following equation, and to minimize the δR _P

Extracting an optimal condition of each factor used in the calculation; And
And controlling the vehicle to perform a motion in accordance with the extracted optimal condition in the induction control device.

here,

ego,

Is,

ego,

Is,

ego,

Is,

ego,

Is,

ego,

Is the elevation at the past position M ₁ ,

Is the azimuth at the past position M ₁ ,

Is the elevation at the current position M ₂ ,

Is the azimuth at the current position M ₂ ,

Wow

Is the visual angle measurement error of the image sensor,

Wow

Each number 1 and 2 in the lower right subscript of indicates the past position and the present position.

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