| 引用本文: | 王小刚,郭继峰,崔乃刚.INS/Vision相对导航系统在无人机上的应用[J].哈尔滨工业大学学报,2010,42(7):1029.DOI:10.11918/j.issn.0367-6234.2010.07.005 |
| WANG Xiao-gang,GUO Ji-feng,CUI Nai-gang.A relative navigation method based on INS/Vision for UAV[J].Journal of Harbin Institute of Technology,2010,42(7):1029.DOI:10.11918/j.issn.0367-6234.2010.07.005 |
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| 摘要: |
| 提出了一种考虑视觉导航设备输出时间延迟问题的INS/Vision相对导航方法,推导了长机与僚机之间的相对惯导方程.给出了长机与僚机之间相对视线矢量测量原理,僚机上设置若干特征光点,长机上的视觉导航设备通过对特征光点观测,得到相对视线矢量.应用扩展卡尔曼滤波融合相对惯导信息和相对视线矢量信息,估计出长机与僚机之间的相对姿态、相对速度和相对位置.针对视觉导航设备量测量存在时间延迟的问题,给出了延迟后量测量与惯导信息融合的方法,最后通过仿真研究证明了该相对导航方法的有效性. |
| 关键词: 相对导航 相对惯导方程 视觉导航 扩展卡尔曼滤波 时间延迟 |
| DOI：10.11918/j.issn.0367-6234.2010.07.005 |
| 分类号:V241.62 |
| 基金项目:航天科技创新基金资助项目(CASC0209) |
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| A relative navigation method based on INS/Vision for UAV |
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WANG Xiao-gang, GUO Ji-feng, CUI Nai-gang
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Dept.of Aerospace Engineering,Harbin Institute of Technology,Harbin 150001,China
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| Abstract: |
| A relative navigation method based on INS/Vision is presented with the consideration of the measurement of vision navigation equipment with time delay,and the relative inertial equation between the leader and the follower is derived.The line of sight measurement is acquired by observing the beacons on the follower using the vision navigation equipment on the leader.The extended Kalman filter is used to estimate the relative attitude,relative velocity and relative position by fusing the inertial navigation information and the line of sight measurement.For the time delay problem of vision navigation equipment,a method of fusing the inertial navi gation information and the measurement with time delay is provided.Simulation results verify the effectiveness of the relative navigation method. |
| Key words: relative navigation relative inertial equation vision navigation extended Kalman filtering time delay |
