基于双目技术的无人机自主三维定位方法研究

Binocular Stereovision Technology Based Autonomous 3D Localization Method for Unmanned Aerial Vehicles

无人机具有体积小、造价低、机动性强、隐蔽性好等优点,在军事侦查、地理勘测、目标跟踪等领域应用广泛;由于无法采用造价昂贵、体积庞大的精密惯导设备,当应用场景为弱或无GPS环境时,无人机的准确位置信息将难以获取,并且在实际飞行过程中还面临着GPS信号不稳或易遭欺骗等挑战;针对以上问题,提出了基于双目技术的无人机自主三维定位方法;介绍了双目立体视觉技术的光学物理原理,以及双目摄像头与目标的距离判别算法;设计了无人机通过双目技术进行三维定位的方法;详细说明了通过RSS定位方法计算出无人机的精确三维位置信息的运算步骤及矩阵计算式;通过MATLAB仿真实验检验了该基于双目技术的无人机自主三维定位方法的有效性和可实现性;结果表明,该无人机自主三维定位方法具有定位精度高、普适性强等特点。

The unmanned aerial vehicles（UAV）boast for their small size,low cost,flexible maneuverability and good concealment,and thus widely used in military reconnaissance,geological survey,target tracking and other fields.Without the expensive and bulky precision inertial navigation equipment,UAV can be difficult to localize during its flight because only weak or even no global positioning system（GPS）signal can be detected.In order to solve these issues,the autonomous three-dimensional（3 D）localization method for UAV based on binocular stereovision technology is proposed in this paper.We introduce the optical principle of binocular stereovision technology and the estimation algorithm for the distance between the camera and the target.The simulation results validate that our UAV autonomous 3 Dpositioning method has high positioning accuracy and strong universality.