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针对无人机相对机场跑道的位姿估计问题,提出一种利用机场跑道图像和机载位姿测量传感器进行参数后验估计的方法.首先利用高度表、全球定位系统、惯性导航系统等机载传感器测量无人机的位姿参数.假设各参数的测量误差的先验分布已知且彼此独立,将某时刻的一组测量值看作是对真实值的一次采样.与此同时利用机载已标定相机拍摄跑道的图像,并假设两条跑道边缘直线可从图像中准确提取.受两平行直线透视成像的约束,真实参数必然位于参数空间中某个约束曲面上,进而计算得到位姿参数的后验均值估计.仿真结果验证了该方法的有效性.
Aiming at the pose estimation problem of UAV with respect to the airport runway, a method of using the airport runway image and airborne attitude measurement sensor to estimate the posterior parameters is proposed.Firstly, using altimeter, GPS, inertial navigation system and other airborne The sensor measures the attitude and attitude parameters of the UAV. Assuming that the a priori distributions of the measurement errors of the parameters are known and independent of each other, a set of measurements at a certain time are considered as one sample of the real value. At the same time, The calibrated camera takes the image of the runway and assumes that the straight line of the two runway edges can be accurately extracted from the image.Constrained by two parallel linear fluoroscopic images, the true parameter is necessarily located on a constrained surface in the parameter space, and the pose parameter The posterior mean estimation is also given.The simulation results verify the effectiveness of the proposed method.