大带宽通信链路环境下的无人机实时制图

UAV Real-time Mapping in Large Bandwidth Communication Link Environment

针对传统摄影测量数据后处理系统获取数据成果精度高但实时效率低这一特点,文章提出一套适合在大带宽无线通信环境下的无人机实时制图技术方法。该方法以数码相机内外参数预先标定为基础,通过引入视觉SLAM动态优化算法对实时传输影像的位置和姿态进行动态修正,能极大限度地消除重叠影像间的错位现象,达到无缝拼图效果。采用国内某大型无人机搭载的飞思相机进行实际工程实验,结果表明,文章所采用的实时制图方法切实可行,具有一定的应用价值。

The traditional photogrammetric data processing system has high accuracy but low efficiency.This paper presents a set of real-time mapping techniques for unmanned aerial vehicles in the wireless communication environment with large bandwidth.Based on the pre-calibration of internal and external parameters of the camera,this method introduces visual SLAM dynamic optimization algorithm to correct the position and attitude of the real-time transmitted images,which can greatly eliminate the misalignment between overlapping images.The experimental results show that the proposed method is feasible,which has certain application value.