小型固定翼无人机图像辅助导航系统的设计

Design of an Image-aided Recovery Navigator for SUAV

图像导航作为GPS导航的失效备用方案在无人机导航领域有着重要的应用价值。搭建了一个基于图像导航的小型无人机(SUAV)系统,在GPS临时失效的情况下,可以利用空中俯拍图像辅助航迹推算并结合惯性导航系统进行应急导航。利用Matlab/Aerospace模块库建立了小型固定翼无人机原型的非线性动力学方程,并通过Matlab线性分析工具对无人机的纵向和横侧向动力学模型进行稳态点附近的线性化;利用Google Earth(GE)抓取空中图像作为无人机摄像头的输入,采用SURF算法进行图像匹配,并结合Simulink对图像辅助导航系统进行了仿真验证。

This paper constructes a small unmanned aerial vehicle(SUAV)system using successive image matching,as an image-aided dead reckoning or inertial navigation system in the event of a temporary GPS outage,which allows a safe navigation.The nonlinear dynamic prototype of the SUAV is established and trimmed using Matlab/Aerospace Blockset,and the linear longitudinal and lateral dynamics model is established by using Linear Analyze Blockset.The camera input is simulated by the airscape generated using Google Earth(GE)and the OpenSURF method is used for image matching.