基于VI-SLAM的四翼无人机多目标视觉定位技术  

Multi-target Visual Positioning Technology of Four-wing UAV Based on VI-SLAM

作　　者：董巍 Dong Wei(Institute for Electronics and Information Technology in Tianjin,Tsinghua University,Tianjin 300467,China)

机构地区：[1]清华大学天津电子信息研究院

出　　处：《计算机测量与控制》2019年第11期224-227,232,共5页Computer Measurement &Control

摘　　要：针对传统多目标视觉定位技术定位误差大这一问题,基于VI-SLAM的四旋翼无人机提出了一种新的多目标视觉定位技术,阐述了定位技术原理,在进行定位时,导航定位系统、航空姿态测量系统、机载光电测量平台共同工作,通过多目标相机标定、锁定目标背景差分确定目标在摄像机坐标系的位置,将摄像机坐标系转换成载机机体坐标系,再将载机机体坐标系转换成大地坐标系,从而实现定位,引入北斗卫星导航系统和递归最小二乘算法降低定位误差;对比实验结果表明,与传统技术比较,所提方法高低角的测量误差减少了0.55 mrad,方位角的测量误差减少了0.88 mrad,无人机内部的激光平台激光测距精度为5 m,其应用性更广。Aiming at the problem of large positioning error of traditional multi-target visual positioning technology,a new multi-target visual positioning technology based on VI-SLAM is proposed,and the principle of positioning technology is expounded.When positioning,navigation and positioning system The aeronautical attitude measurement system and the airborne photoelectric measurement platform work together to determine the position of the target in the camera coordinate system by multi-target camera calibration and locking the target background difference,convert the camera coordinate system into the carrier body coordinate system,and then move the carrier body.The coordinate system is converted into a geodetic coordinate system to achieve positioning,and the Beidou satellite navigation system and the recursive least squares algorithm are introduced to reduce the positioning error.The comparison experiment results show that compared with the traditional technology,the measurement error of the high and low angle of the proposed method is reduced by 0.55 mrad,the measurement error of the azimuth angle is reduced by 0.88 mrad,and the laser range measurement precision of the laser platform inside the drone is 5 m.More extensive.

关 键 词：VI-SLAM四翼无人机 多目标锁定 视觉定位 定位技术 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]