旋翼无人机视觉/惯性组合导航技术研究  

Research on integrated navigation of vision/inertial for rotorcraft

作　　者：陈润泽 郝向阳[1] 陶健 杨高杰 Chen Runze;Hao Xiangyang;Tao Jian;Yang Gaojie(Information Engineering University,Zhengzhou 450001,China;Integrated Information Service Center of Information Support Team of Nanjiang Military Region,Kashi 844000,China)

机构地区：[1]信息工程大学,郑州450001 [2]南疆军区信息保障队综合信息服务中心,喀什844000

出　　处：《电子测量技术》2021年第12期121-127,共7页Electronic Measurement Technology

摘　　要：随着旋翼无人机的日益发展且其任务中面临环境的复杂性不断提升,单一传感器已经表现出明显不足,因此需要有自主性更强的组合导航方法用以辅助其完成各类急难险重任务。从视觉、惯性的基本概念入手,较为全面地分析了此类组合的优势所在。而后对旋翼无人机的基本情况进行介绍,并着重分析以其为载体实现视觉/惯性组合导航的关键技术,包含视觉前端、初始化以及具体的融合方法。特别是对近几年表现出色的算法进行介绍,并分析了其优缺点,最后根据现有文献总结分析了当前针对旋翼无人机实现视觉/惯性组合导航需进一步深入研究的问题。With the development of rotorcraft and the increasing complexity of the environment in many missions, single sensor has shown obvious deficiencies. Therefore, better autonomous navigation is needed to complete all kinds of urgent and dangerous tasks. Starting from the basic concepts of vision and inertia, this paper comprehensively analyzes the advantages of this kind of combination. Then, the basic situation of rotorcraft is introduced, and the key technologies of vision/inertial navigation based on rotorcraft are analyzed, including front-end for vision, initialization and fusion methods. Particularly, more outstanding algorithms in recent years are introduced, which help us understand their advantages and disadvantages better. Finally, according to the existing literature, problems that need to be further studied of vision/inertial integrated navigation for rotorcraft are summarized and analyzed.

关 键 词：旋翼无人机 视觉/惯性 组合导航 初始化 融合 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]