摘要
利用视觉进行无人机编队飞行是协同编队飞行中一个新的应用。针对通用的GPS/INS导航系统信号丢失和大国垄断的局限性,提出了一种基于红外标志灯的视觉编队方法,给出了红外LED作为标志灯的可行性分析,并对获取长机位置和姿态信息的LHM算法加以改进,结合最小二乘图像匹配算法的思想提出了LHM-LSIM算法,在图像处理中加以应用,最后通过仿真实验证明该算法的可行性与正确性。
The formation flying based on vision for the Unmanned Aerial Vehicle （UAV） is a new application of coordinated forma- tion flying.The signal loss of generic GPS /INS inertial navigation system and the power monopoly by big countries are the great limitation.In this paper,the methods based on infrared light signs of vision formation is proposed,an infrared LED marker lamps feasibility analysis is given,and a measurement of plane-profile LHM algorithm is improved.On this basis, LHM-LSIM algorithm is presented with the integration of the improved LHM and the Least Squares Image Match algorithm to solve the defect of poor real-time in LHM.Finally the feasibility and the accuracy of the algorithm proved through the simulation.
出处
《工业控制计算机》
2010年第10期51-53,共3页
Industrial Control Computer
关键词
无人机
协同编队
最小二乘
图像处理
仿真实验
unmanned aerial vehicles
coordinated formation
least squares
image procession
simulation
