微型飞行器的GPS-图像复合导航技术

GPS-Image Integrated Navigation Technology Based on Micro Aerial Vehicle

根据微型飞行器的飞行特点,设计了一种能有效提高图像匹配速度的复合导航算法,即GPS-改进图像相关法,利用GPS传感信息与图像信息相结合,快速而准确地引导微型飞行器到达目的地。为了进一步减少匹配时间,提高匹配效率,同时保证一定的匹配精度,文中设计了先粗后精的分层匹配控制策略。仿真结果表明,该算法相对于传统相关匹配法,不仅保持了很好的匹配率,还有效地提高了匹配的速度,运行于4-DSP系统平台上,完全达到系统实时性的要求。

An integrated navigation algorithm--＂GPS-improved correlation matching＂ is proposed. Based on the combination of GPS sensor and image information, it can greatly increase matching speed and guide the micro aerial vehicle to the right destination quickly. A layered matching control strategy from coarse to precise is used to improve matching efficiency without the loss of matching accuracy. Simula- tion results show that the algorithm keeps higher matching probability and improves matching speed, thus meeting the real-time requirement of the system while working on the 4-DSP system.