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基于跑道的视觉导航广泛用于无人机自主着陆等场合。文中从信息的角度,分析了视觉导航中跑道边缘线、地平线和跑道横向控制线提供的姿态和位置导航信息,推导并证明了两个基本结论:已知宽度的跑道边缘线可以提供两个姿态和两个位置信息;地平线和跑道横向控制线可以完善姿态和位置信息。文中的研究对于进行基于跑道的视觉导航算法设计、精度分析和组合导航可观性分析等具有理论价值。
Runway-based visual navigation is widely used in autonomous landing of UAVs and other occasions. From the perspective of information, this paper analyzes the attitude and position navigation information provided by the runway edge line, horizon and runway lateral control line in visual navigation, and deduces and proves two basic conclusions: the runway edge line of known width can provide two poses And two location information; horizon and runway lateral control lines to improve posture and location information. The research in this article has theoretical value for the design of runway-based visual navigation algorithms, precision analysis and observability analysis of integrated navigation.