未知环境下GNSS辅助视觉自主定位方法  

GNSS-Assisted Visual Autonomous Localization Method in Unknown Environment

作　　者：代君[1,2,3] 王敬宇 闵君 陈旭 赵黎龙 张春凤 DAI Jun;WANG Jingyu;MIN Jun;Chen Xu;ZHAO Lilong;ZHANG Chunfeng(School of Aerospace Engineering,Zhengzhou University of Aeronautics,Zhengzhou 450046,China;Institute of Geospatial Information,Information Engineering University,Zhengzhou 450046,China;Henan Key Laboratory of General Aviation Technology,ZUA,Zhengzhou 450046,China)

机构地区：[1]郑州航空工业管理学院航空宇航学院,河南郑州450046 [2]战略支援部队信息工程大学地理空间信息学院,河南郑州450046 [3]郑州航空工业管理学院河南省通用航空工程技术研究中心,河南郑州450046

出　　处：《郑州航空工业管理学院学报》2024年第2期65-71,共7页Journal of Zhengzhou University of Aeronautics

基　　金：2024年度河南省科技攻关项目(1838);郑州航空工业管理学院科研团队支持计划专项资助(23ZHTD01010)。

摘　　要：自主导航与定位是无人系统智能化的基础,未知环境下持续、稳定、可靠的位置服务对自主导航与定位尤为重要。针对低置信度下GNSS信号微弱、突防能力差、易受干扰而无法持续定位的问题,文章提出了一种GNSS辅助视觉自主动态定位方法,可以在未知环境下提供全局定位服务。该方法以三帧影像及其对应的GNSS坐标作为约束数据,通过Horn坐标变换得到GNSS坐标系和世界坐标系转换矩阵;通过对极几何、单应变换、2D-3D位姿解算,得到后续影像序列在世界坐标系的相对位姿;最终得到GNSS不可用时无人载体在GNSS坐标系的全局位置数据。数据集验证表明,该算法适用于GNSS信号间歇性存在的情况,可以提供全局位置服务,且短时定位精度较高。进一步对比传统状态估计和BA优化后误差,结果表明,相比于传统状态估计,BA优化后定位精度提高10%—20%,证明了在未知环境下该算法具有良好的可靠性和适用性。Autonomous navigation and localization is the foundation of unmanned system intelligence,so continuous,stable,and reliable position service in unknown environment is especially important for autonomous navigation and localization.Aiming at the problem that GNSS cannot continuously localize in complex environments due to weak signals,poor penetration ability,and susceptibility to interference;and that visual navigation and localization is only relative,this paper proposes a GNSS-assisted visual autonomous localization method,which can provide global localization services in unknown environments.Taking the three frames of images and their corresponding GNSS coordinates as the constraint data,the GNSS coordinate system and world coordinate system transformation matrix is obtained through Horn coordinate transformation,and the relative position of the subsequent image sequences in the world coordinate system is obtained through epipolar geometry constraint,homography matrix transformation,and 2D-3D position and orientation solving,which ultimately yields the global position data of unmanned carriers in the GNSS coordinate system when GNSS is temporarily unavailable.The dataset validation show that the algorithm can be applied to the case of intermittent presence of GNSS signals,and can provide global location services with high short-time positioning accuracy.Then,we further compare the traditional state estimation and BA post-optimisation error,and the results show that compared with the traditional state estimation,the BA post-optimisation improves the localisation accuracy by 10%-20%,which proves that the algorithm has good reliability and applicability in unknown environments.

关 键 词：视觉定位 GNSS辅助定位 BA优化 Horn坐标变换 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TP391.41[自动化与计算机技术—计算机应用技术]