A velocity and height estimation method based on vision/inertial for aircraft in unknown environments

被引：0
|
作者：
机构：
[1] College of Aerospace Science and Engineering, National University of Defense Technology
[2] Hunan Key Laboratory of Videometrics and Vision Navigation, National University of Defense Technology
来源：
Liu, H. (liuhaibo@nudt.edu.cn) | 1600年 / National University of Defense Technology卷 / 36期
关键词：
Height measurement; Inertial navigation; Kalman filter; Velocity measurement; Vision navigation;
D O I：
10.11887/j.cn.201401004
中图分类号：
学科分类号：
摘要：
For aircraft navigation in unknown environments, a velocity and height estimation method based on vision/inertial integrated navigation is proposed. An extended inertial navigation state equation was formulated, which contains several aircraft's positions at latest several imaging times, and a linear vision measurement equation based on two view epipolar geometry constraints was adapted to correct inertial velocity error using a Kalman filter. And then, the coordinates of ground features were estimated by the stereo vision method, which was used to estimate the height of the aircraft. Simulation has been implemented by using the typical cruise trajectory of the aircraft, and the result shows that our method works well for correcting the velocity and height errors, which enables the velocity and height not to drift with time. As a result, it can also suppress the position error of the aircraft.
引用
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页码：17 / 21
页数：4
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