多视图融合的无人机定位方法

doi:10.12305/j.issn.1001-506X.2023.04.21

摘要/Abstract

摘要：

无人机(unmanned aerial vehicle, UAV)技术已广泛应用于军民领域。在预警、飞行控制和轨迹跟踪过程中需要导航设备提供准确的位置信息, 传统的单目视觉测量无法准确获取目标的深度信息, 双目视觉测量方法受距离和视角影响测量精度低。针对这一问题, 提出了多相机全方位的多视图融合定位的方法, 以成像面积最大的摄像机为主, 两侧相机为辅, 采用物点定位法分别计算UAV的三维信息, 并将平均值作为UAV的定位信息。最后, 通过实验验证, 多视图融合的物点测量方法可实现3 cm的定位精度。

关键词: 无人机, 多视图融合, 定位, 物点定位

Abstract:

Unmanned aerial vehicle (UAV) technology has been widely used in military and civilian fields. In the process of early warning, flight control and trajectory tracking, navigation equipment is required to provide accurate position information. Traditional monocular vision measurement cannot accurately obtain the depth information of the target, and binocular vision measurement method is affected by distance and viewpoint with low measurement accuracy. To address this problem, a multi-camera all-round multi-view fusion positioning method is proposed, in which the camera with the largest imaging area is the main one and the cameras on both sides are supplemented, and the object point positioning method is used to calculate the 3D information of the UAV respectively, and the average value is used as the positioning information of the UAV. Finally, through experimental verification, the multi-view fusion object point measurement method can achieve a positioning accuracy of 3 cm.

Key words: unmanned aerial vehicle (UAV), multi-view fusion, positioning, point-of-object positioning

中图分类号:

V279

庞阳, 王明, 闫子仪, 岳童尧, 周哲. 多视图融合的无人机定位方法[J]. 系统工程与电子技术, 2023, 45(4): 1127-1133.

Yang PANG, Ming WANG, Ziyi YAN, Tongyao YUE, Zhe ZHOU. UAV localization method with multi-view fusion[J]. Systems Engineering and Electronics, 2023, 45(4): 1127-1133.

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序号	真实位置(x, y, z)	测量位置(x, y, z)	平均测量位置(x, y, z)	测量误差(x, y, z)
1	(5, 32, 50)	(3.56, 31.12, 51.42)	(3.04, 30.97, 50.73)	(1.96, 1.03, 0.73)
		(2.12, 30.94, 50.69)
		(3.44, 30.84, 50.09)
2	(5, 32, 60)	(1.83, 32.87, 56.93)	(2.55, 32.91, 57.08)	(2.45, 0.91, 2.92)
		(3.07, 32.91, 57.00)
		(2.74, 32.96, 57.32)
3	(5, 32, 70)	(4.44, 34.9, 72.11)	(4.68, 35.16, 71.88)	(0.32, 3.16, 1.88)
		(5.37, 35.58, 72.01)
		(4.23, 35.00, 71.52)
4	(5, 32, 80)	(5.77, 34.99, 77.41)	(4.92, 34.98, 77.53)	(0.08, 2.98, 2.47)
		(3.99, 35.02, 77.07)
		(5.01, 34.93, 78.12)
5	(5, 32, 90)	(4.1, 31.44, 93.35)	(4.61, 31.70, 92.81)	(0.39, 0.3, 2.81)
		(6.83, 31.47, 93.33)
		(2.92, 32.2, 91.77)
6	(5, 32, 100)	(6.06, 30.39, 98.63)	(6.13, 29.90, 99.80)	(1.13, 2.10, 0.2)
		(5.29, 29.42, 100.79)
		(7.06, 29.89, 99.98)
7	(-18, 32, 73)	(-18.3, 31.23, 76.06)	(-18.4, 31.46, 76.01)	(0.4, 0.54, 3.01)
		(-18.2, 31.41, 75.85)
		(-18.8, 31.75, 76.14)
8	(28, 32, 73)	(27.14, 31.62, 70.13)	(27.6, 31.26, 70.44)	(0.4, 0.73, 2.56)
		(28.3, 30.88, 70.38)
		(27.32, 31.3, 70.84)

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