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GPS/VISNAV integrated relative navigation and attitude determination system for ultra-close spacecraft formation flying 被引量:5
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作者 Xiaoliang Wang Xiaowei Shao Deren Gong Dengping Duan 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2011年第2期283-291,共9页
For the improvement of accuracy and better fault-tolerant performance, a global position system (GPS)/vision navigation (VISNAV) integrated relative navigation and attitude determination approach is presented for ... For the improvement of accuracy and better fault-tolerant performance, a global position system (GPS)/vision navigation (VISNAV) integrated relative navigation and attitude determination approach is presented for ultra-close spacecraft formation flying. Onboard GPS and VISNAV system are adopted and a federal Kalman filter architecture is used for the total navigation system design. Simulation results indicate that the integrated system can provide a total improvement of relative navigation and attitude estimation performance in accuracy and fault-tolerance. 展开更多
关键词 control and navigation relative navigation federalKalman filter spacecraft formation flying global position system(GPS) vision navigation (VISNAV).
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Dead-reckoning/vision integrated navigation for mobile robot 被引量:3
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作者 孙德波 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2003年第2期145-150,共6页
A dead reckoning system and a vision navigation system are proposed for use in a new integrated system for robot navigation. Since the dead reckoning system uses a recurrence algorithm to determine the position, the p... A dead reckoning system and a vision navigation system are proposed for use in a new integrated system for robot navigation. Since the dead reckoning system uses a recurrence algorithm to determine the position, the position will be divergent in two horizontal directions with time increasing. In order to overcome this defect, a vision navigation system is used to periodically correct the dead reckoning system, and a kalman filter is used to estimate the errors of navigation and the unknown biases of sensors, and precise position and heading estimations are obtained by updating navigation errors and sensors’ biases. It is concluded from the simulation results that all the navigation parameters can be obtained through kalman filtering, and the integrated navigation system proposed for robot navigation can be used in an actual robot working in a laboratory. The measurement noise analysis shows that with the distance between beacon and robot increasing, the measurement noise will increase, and in order to achieve a proper estimation accuracy, the distance should not be too great. 展开更多
关键词 robot navigation vision navigation Kalman filter
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Vision Navigation Based PID Control for Line Tracking Robot 被引量:1
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作者 Rihem Farkh Khaled Aljaloud 《Intelligent Automation & Soft Computing》 SCIE 2023年第1期901-911,共11页
In a controlled indoor environment,line tracking has become the most practical and reliable navigation strategy for autonomous mobile robots.A line tracking robot is a self-mobile machine that can recognize and track ... In a controlled indoor environment,line tracking has become the most practical and reliable navigation strategy for autonomous mobile robots.A line tracking robot is a self-mobile machine that can recognize and track a painted line on thefloor.In general,the path is set and can be visible,such as a black line on a white surface with high contrasting colors.The robot’s path is marked by a distinct line or track,which the robot follows to move.Several scientific contributions from the disciplines of vision and control have been made to mobile robot vision-based navigation.Localization,automated map generation,autonomous navigation and path tracking is all becoming more frequent in vision applications.A visual navigation line tracking robot should detect the line with a camera using an image processing technique.The paper focuses on combining computer vision techniques with a proportional-integral-derivative(PID)control-ler for automatic steering and speed control.A prototype line tracking robot is used to evaluate the proposed control strategy. 展开更多
关键词 Line tracking robot vision navigation PID control image processing OPENCV raspberry pi
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Vision navigation for aircrafts based on 3D reconstruction from real-time image sequences 被引量:8
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作者 ZHU ZunShang SU Ang +2 位作者 LIU HaiBo SHANG Yang YU QiFeng 《Science China(Technological Sciences)》 SCIE EI CAS CSCD 2015年第7期1196-1208,共13页
In this paper,we propose a novel vision navigation method based on three-dimensional(3D)reconstruction from real-time image sequences.It adapts 3D reconstruction and terrain matching to establish the correspondence be... In this paper,we propose a novel vision navigation method based on three-dimensional(3D)reconstruction from real-time image sequences.It adapts 3D reconstruction and terrain matching to establish the correspondence between image points and3D space points and the terrain reference(by using a digital elevation map(DEM)).An adaptive weighted orthogonal iterative pose estimation method is employed to calculate the position and attitude angle of the aircraft.Synthesized and real experiments show that the proposed method is capable of providing accurate navigation parameters for a long-endurance flight without using a global positioning system or an inertial navigation system(INS).Moreover,it can be combined with an INS to achieve an improved navigation result. 展开更多
关键词 vision navigation 3D reconstruction terrain matching pose estimation
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Automatic navigation path detection method for tillage machines working on high crop stubble fields based on machine vision 被引量:6
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作者 Zhang Tian Xia Junfang +1 位作者 Wu Gang Zhai Jianbo 《International Journal of Agricultural and Biological Engineering》 SCIE EI CAS 2014年第4期29-37,共9页
Due to the influence of complex working environment and artificial factors,it is easy to cause crop up over or less tillage problem when straw returning machine is working in paddy field.A new method for path detectio... Due to the influence of complex working environment and artificial factors,it is easy to cause crop up over or less tillage problem when straw returning machine is working in paddy field.A new method for path detection suitable for rice,rape and wheat high crop stubble tilling environments was proposed.First the distribution characteristics of rice,rape and wheat high crop stubble images in paddy field based on RGB color model were analyzed,and rice,the color images of rape and wheat high crop stubble were converted into gray ones using custom factor combination R+G-2B;Then,the gray images of rice,rape and wheat high crop stubble were segmented from soil background by means of luminance mean texture descriptor;Next,the binary image through custom shear-binary-image algorithm was cut to remove big noise blobs in high crop stubble’s tilled area;Finally,navigation path from navigation points by using the least square method was derived.The experimental results indicated that the navigation path detection algorithm was fast and effective to obtain navigation path in rice,rape and wheat high crop stubble tilling environments with up to 96.7% of segmentation accuracy within 0.6 s of processing time. 展开更多
关键词 high crop stubble paddy field tilling texture statistics road navigation vision navigation
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Ubiquitous indoor vision navigation using a smart device 被引量:1
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作者 Bei HUANG Yang GAO 《Geo-Spatial Information Science》 SCIE EI 2013年第3期177-185,共9页
GPS-based technology has served the positioning and navigation industry for decades with outstanding reliability and accuracy.However,limitations for location-based services in indoor scenarios remain where GPS signal... GPS-based technology has served the positioning and navigation industry for decades with outstanding reliability and accuracy.However,limitations for location-based services in indoor scenarios remain where GPS signal reception suffers from severe degradation or even outages.Wi-Fi-based positioning is currently the most popular indoor location solution,with an availability and time-to-first-fix that are significantly better than GPS.However,the achievable position accuracy is only at the level of tens of meters on average depending on database density and signal reception quality.In order to improve positioning accuracy and availability,motion sensors like accelerometers,gyros,and magnetic compasses are increasingly integrated into smart devices.However,their position solutions suffer from the effects of significant accumulative errors.In this paper,a vision-based indoor positioning method is developed to overcome the limitations above.The proposed vision-based system relies on a single camera,widely available on smart phones and tablets.The derivation of the absolute 3D position from 2D snapshots of a single camera requires the use of an external geo-reference database.In this research,a ubiquitous floor plan database has been used to provide accurate geodetic information.Unlike other popular geo-reference databases,the database used in this work can easily be generated with existing resources.The proposed system has been developed as an iOS App and was tested on iPad for various indoor scenarios.The results show that the performance of the proposed system is superior to Wi-Fi-based positioning systems. 展开更多
关键词 indoor positioning vision navigation geo-reference augmented reality
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Absolute pose estimation of UAV based on large-scale satellite image
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作者 Hanyu WANG Qiang SHEN +2 位作者 Zilong DENG Xinyi CAO Xiaokang Wang 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2024年第6期219-231,共13页
Obtaining absolute pose based on pre-loaded satellite images is one of the important means of autonomous navigation for small Unmanned Aerial Vehicles(UAVs)in Global Navigation Satellite System(GNSS)denied environment... Obtaining absolute pose based on pre-loaded satellite images is one of the important means of autonomous navigation for small Unmanned Aerial Vehicles(UAVs)in Global Navigation Satellite System(GNSS)denied environments.Most of the previous works have tended to build Convolutional Neural Networks(CNNs)to extract features and then directly regress the pose,which will fail when solving the challenges caused by the huge viewpoint and size differences between“UAV-satellite”image pairs in real-world scenarios.Therefore,this paper proposes a probability distribution/regression integrated deep model with the attention-guided triple fusion mechanism,which estimates discrete distributions in pose space and three-dimensional vectors in translation space.In order to overcome the shortage of the relevant dataset,this paper simulates image datasets captured by UAVs with forward-facing cameras during target searching and autonomous attacking.The effectiveness,superiority,and robustness of the proposed method are verified by simulated datasets and flight tests. 展开更多
关键词 Satellite imagery Unmanned Aerial Vehicle(UAV) Deep neural networks vision navigation von Mises-Fisher distribution
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