| 基于双目视觉和惯性器件的微小型无人机运动状态估计方法 |
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| 引用本文： | 李建,李小民,钱克昌,周红新.基于双目视觉和惯性器件的微小型无人机运动状态估计方法[J].航空学报,2011,32(12):2310-2317. |
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| 作者姓名： | 李建 李小民 钱克昌 周红新 |
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| 作者单位： | 军械工程学院光学与电子工程系,河北石家庄,050003 |
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| 摘 要： | 针对微小型无人机(UAV)自主运动状态估计问题,提出了一种基于双目视觉和惯性器件的微小型无人机运动状态估计方法,运动状态估计系统由微惯性测量单元(MIMU)和2个摄像机组成.根据微惯性测量单元的输出更新无人机运动状态,同时由摄像机获得周围环境的图像序列,从序列图像中提取特征点,并对这些特征点进行匹配、跟踪,测量序列图像...
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| 关 键 词： | 微小型无人机 双目视觉 特征点 微惯性测量单元 运动状态估计 |
| 收稿时间： | 2011-04-01; |
Motion State Estimation for Micro UAV Using Inertial Sensor and Stereo Camera Pair |
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| LI Jian,LI Xiaomin,QIAN Kechang,ZHOU Hongxin.Motion State Estimation for Micro UAV Using Inertial Sensor and Stereo Camera Pair[J].Acta Aeronautica et Astronautica Sinica,2011,32(12):2310-2317. |
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| Authors: | LI Jian LI Xiaomin QIAN Kechang ZHOU Hongxin |
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| Institution: | LI Jian,LI Xiaomin,QIAN Kechang,ZHOU Hongxin Optical and Electronic Engineering Department,Ordnance Engineering College,Shijiazhuang 050003,China |
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| Abstract: | To estimate the movement of micro unmanned aerial vehicle(UAV) independently and accurately,a new method for estimating the micro UAV states of motion is presented in this paper using a micro inertial measurement unit(MIMU) combined with a stereo camera pair.The movement of a micro UAV is deduced using the measurements of the MIMU while two sequences of images are taken by the stereo camera pair,from which several feature points are extracted and matched.The movement of the micro UAV and the position of the... |
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| Keywords: | micro unmanned aerial vehicle stereo vision feature point micro inertial measurement unit motion state estimation |
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