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弹箭与制导学报 >

2024 , Vol. 44 >Issue 5: 1 - 7

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2024.05.001

基于导引头图像连续匹配的航向测量与组合算法

  • 梅春波 1 ,
  • 樊振辉 1 ,
  • 杨朝明 1, 2 ,
  • 徐子昂 3 ,
  • 侯振环 1
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  • 1 西安现代控制技术研究所,陕西 西安 710065
  • 2 西北工业大学电子信息学院,陕西 西安 710072
  • 3 西北工业大学航天学院,陕西 西安 710072
樊振辉(1995—),男,工程师,硕士,研究方向:视觉导航与组合导航。

梅春波(1985—),男,正高级工程师,博士,研究方向:惯性导航、视觉导航与组合导航系统。

收稿日期: 2024-07-23

  网络出版日期: 2024-12-18

基金资助

国防基础科学研究项目(2019-JCJQ-2D-078)

收起

Heading Measurement and Combination Algorithm Based on Continuous Matching of Seeker Images

  • MEI Chunbo 1 ,
  • FAN Zhenhui 1 ,
  • YANG Chaoming 1, 2 ,
  • XU Ziang 3 ,
  • HOU Zhenhuan 1
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  • 1 Xi’an Modern Control Technology Research Institute, Xi’an 710065, Shannxi, China
  • 2 Electronic Information School, Northwestern Polytechnical University, Xi’an 710072, Shannxi, China
  • 3 School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, Shannxi, China

Received date: 2024-07-23

  Online published: 2024-12-18

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摘要

提出了一种基于连续匹配的航向解算与组合导航算法,实现了利用小视场角制导相机解算航向,为无人机提供了一种低成本的航向量测与组合导航方案。首先基于连续匹配得到的本质矩阵计算出姿态增量,然后通过首帧姿态矩阵与联合标定矩阵计算出当前帧的航向角,在此基础上基于惯性导航姿滤波设计了MEMS导航解算与视觉连续匹配的融合算法。最后为验证所提算法的精度与计算效率,搭建了惯性/视觉组合装置及挂飞试验系统。飞行试验结果表明,针对像元数为1 920×1 080的相机在80~200 m相对高度飞行过程中,匹配成功率达到99.6%,0.5 h航行中航向计算精度优于0.21°,更新频率优于20 Hz,与传统方法相比具备较高的匹配成功率、航向计算精度,并具有更低的时间耗费。

关键词： 连续匹配; 航向计算; 航姿滤波; 小视场; 惯性/视觉

本文引用格式

梅春波 , 樊振辉 , 杨朝明 , 徐子昂 , 侯振环 . 基于导引头图像连续匹配的航向测量与组合算法[J]. 弹箭与制导学报, 2024 , 44(5) : 1 -7 . DOI: 10.15892/j.cnki.djzdxb.2024.05.001

Abstract

This article proposes a heading calculation and integrated navigation algorithm based on continuous matching, which realizes the use of small field of view guided cameras to calculate the heading and provides a low-cost heading measurement and integrated navigation solution for unmanned aerial vehicles. The algorithm first calculates the attitude increment based on the essential matrix obtained from continuous matching, and further calculates the heading angle of the current frame through the first frame attitude matrix and joint calibration matrix. Based on this, a fusion algorithm for MEMS navigation solution and visual continuous matching is designed based on inertial navigation attitude filtering. To verify the accuracy and computational efficiency of the algorithm proposed in this paper, an inertial/visual combination device and a captive flight experimental system are constructed. The flight experiment results show that for cameras with a pixel count of 1 920×1 080, the matching success rate reaches 99.6% during flight at an altitude of 80~200 m. The heading calculation accuracy is better than 0.21° and the update frequency is better than 20 Hz during half hour navigation. Compared with traditional methods, it has a higher matching success rate, heading calculation accuracy, and lower time consumption.

Key words： continuous matching; heading calculation; attitude filtering; small field of view; inertia/visual

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