基于圖像跟蹤的無人機定位方法研究.pdf

1、西安電子科技大學碩士學位論文基于圖像跟蹤的無人機定位方法研究姓名：王鳳娟申請學位級別：碩士專業(yè)：控制理論與控制工程指導教師：朱榮明20090101AbstractImagenavigationisthetechnologywhichgetsnavigationalandlocationparametersbyanalysingandhandlingtheimageacquiredfromsensorscarriedbyplaneImag

2、enavigationhasbeenthefocusofbothhomeandabroadinthenavigationalfieldbecauseofitsadvantagesincludingabundantinformation，lowcostandindependenceBaSedonvariouscommonnavigationalmethods，thispaperdeeplyanalysestheimagenavigatio

3、nalmethodsofUAVfield，includingtheresearchstatus，algorithmicDrinciplesandcharacteristicsThemostmaturedresearchresultistogettheinformationofhomonymousimagepointsofmultiplegroundtargetsbyarealtimeimage，andthensolvetheparame

4、tersofpositionandpostureofUAVbycameraandmeasuretheoryThismethodrequiresthenavigationalcomputercouldstoreaamountofmatchingmaps，aIldmenumberofhomonymouspointsonreal—timeimageshouldbethreeormoreAimingataboveproblems，thispap

5、erproposesasinglepointorientationalgorithm，basedonimagetrackIfthedistancefromUAVtogroundtargetCanbemeasuredbylasertelemeterwecangetmepreciseUAVrealtimelocationparametersbyactiveodentationalgorithmHoweverlasertelemeterhas

6、somedisadvantages，includingbeingexposedandinterferedeasilyAimgatthelimitationoflasertelemeter，apassivesinglepointorientationalgorithmisproposedinthispaperThealgorithmfollowsthetrailofgroundtarget，thenmakesuseofinformatio

7、nsincludingthecoordinatesofrealtimeimagepoints，platformanglesofopticalaxisesandpostureangelsofUAVtosolvetheUAVlocationparametersaccordingtotherelationshipofspacegeometryThescopeofimagenavigationofUAVcanbeexpandedbycombin

8、ingactivesinglepointorientationalgorithmandpassivesinglepointorientationalgorithmBesides，thesinglepomtorientationalgorithmbasedonimagetrackisdeducedinthispaperthesimulationresultsshowsthatthealgorithmiSeffectualFinallyth

9、esinglepointorientationalgorithmsproposedinthispaperandtheStrapdownInertialNavigationSystemareunitedtoconstituteanavigationsystemFluspaperfocusesonthedeductionofKalmanequationsofthesystemfilteringstateequationsandthemeas