摘要
为了实时、高精度地获得无人飞行器的飞行地速,提出了基于序列下视图像的无人飞行器速度精确测量方法。采用该方法的系统主要由安装在飞行器底部下视单目摄像机和机载DSP实时信息融合处理模块组成,同时需要由系统外输入飞行器当前的姿态和高度信息。在对连续图像的识别跟踪基础上,可以得到飞行器的瞬时速度。为了进一步提高速度的测量精度,可对一定时间段内的速度进行统计处理。数值仿真实验结果证明,方法简单易行,速度测量精度较高。
In order to measure the ground speed with real time and high precision,the method of accurate velocity measurement of unmanned aerocraft based on sequential downward looking images is proposed.The system adopting this method is consist of two parts: one is the downward looking single camera fixed on the bottom of aerocraft,the other is the module of airborne DSP used to process fusion information.In the meanwhile,the height and attitude is needed,which is inputted from out of the system.The instantaneous velocity can be calculated based on the image recognition and tracking.For improving the precision more,the statistic process could be carried on.The numerical simulation experiment results show that the way is easy to realize and the precision of measurement is high.
出处
《红外与激光工程》
EI
CSCD
北大核心
2007年第z2期495-498,共4页
Infrared and Laser Engineering
关键词
速度测量
单目视觉
特征匹配
姿态
高度
Velocity measurement
Monocular vision
Feature match
Attitude
Altitude