GNSS辅助的视觉动态定位方法研究  

Research on GNSS-assisted Visual Dynamic Positioning Method

作　　者：聂凤祥 郝向阳[1] 代君 王凯[1,4] NIE Fengxiang;HAO Xiangyang;DAI Jun;WANG Kai(Information Engineering University,Zhengzhou 450001,China;Yuncheng City Planning and Natural Resources Bureau,Yuncheng 044000,China;Zhengzhou University of Aeronautics,Zhengzhou 450015,China;Longhua Country Transportation Bureau,Chengde 068150,China)

机构地区：[1]信息工程大学,河南郑州450001 [2]运城市规划和自然资源局,山西运城044000 [3]郑州航空工业管理学院,河南郑州450015 [4]隆化县交通运输局,河北承德068150

出　　处：《测绘科学技术学报》2024年第5期476-483,共8页Journal of Geomatics Science and Technology

摘　　要：针对在城市环境中全球导航卫星系统间歇失锁时运动平台无法连续定位的问题,研究一种GNSS辅助的视觉动态定位方法。该方法利用相机对街景拍摄3幅影像且记录相应位置的GNSS坐标,以GNSS坐标系为世界坐标系。首先分别提取这3幅影像中的SIFT特征点进行三维重建,得到这些特征点在第1幅影像所对应相机坐标系中的坐标以及相机在这3个位置之间的位姿变换,接着利用这3幅影像所对应的GNSS坐标求得相机坐标系与GNSS坐标系之间的位姿变换。然后通过对此街景任意拍摄1幅影像,即可利用P3P+RANSAC对当前影像所对应的相机位姿进行解算得到相机平台此时的GNSS坐标。最后对某场景的影像数据进行实验,实验结果验证了此方法的可行性,且其定位精度一般不超出6 m。Aiming at the problem that the moving platform cannot be continuously positioned when the Global Navigation Satellite System is intermittently out of look in urban environment,a GNSS-assisted visual dynamic positioning method was researched.This method used a camera to shoot three images of the street scene and record the GNSS coordinates of the corresponding positions,and the GNSS coordinate system was the world coordinate system.Firstly the SIFT feature points are extracted from each of the three images separately for three-dimensional reconstruction.And the coordinates of these feature points in the camera coordinate system corresponding to the first image and the pose transformation of the camera between these three positions are obtained.The GNSS corrdinates corresponding to the three images are used to obtain the pose transformation between the camera coordinate system and the GNSS coordinate system.Secondly,by shooting an image of this street scene arbitrarily,P3P can be used to calculate the camera pose corresponding to the current image to obtain the GNSS coordinates to the camera platform at this time.Finally,the image data of a certain scene is experimented to verify the method,and it's positioning accuracy is generally not more than 6 m.

关 键 词：视觉定位 GNSS定位 特征点匹配 位姿解算 坐标转换 

分 类 号：P232[天文地球—摄影测量与遥感]