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Journal of Projectiles, Rockets, Missiles and Guidance >

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

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

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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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

Cite this article

MEI Chunbo , FAN Zhenhui , YANG Chaoming , XU Ziang , HOU Zhenhuan . Heading Measurement and Combination Algorithm Based on Continuous Matching of Seeker Images[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2024 , 44(5) : 1 -7 . DOI: 10.15892/j.cnki.djzdxb.2024.05.001

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