基于跑道的视觉导航信息分析

Information Analysis of Vision Navigation Based on Runway

基于跑道的视觉导航广泛用于无人机自主着陆等场合。文中从信息的角度,分析了视觉导航中跑道边缘线、地平线和跑道横向控制线提供的姿态和位置导航信息,推导并证明了两个基本结论:已知宽度的跑道边缘线可以提供两个姿态和两个位置信息;地平线和跑道横向控制线可以完善姿态和位置信息。文中的研究对于进行基于跑道的视觉导航算法设计、精度分析和组合导航可观性分析等具有理论价值。

Vision navigation based on runway is a common application in landing an unmanned aerial vehicle （UAV）. From the informa- tion point in vision navigation, observability of UAV attitude and position knowing edges of runway, horizon and transverse runway line were analyzed. Two conclusions about visual navigation information were deduced. It is proved that yaw, pitch, altitude and sideways position can be calculated by viewing edges of the runway known width, and with additionally viewing the horizon and the transverse runway line, complete attitude and position can be known. The research can be theoretically referred by method design, precision analysis and observability analysis of visual navigation based on runway.