Airborne visual object identification and status estimation method based on micro-flight vehicle [基于微型飞行器机载视觉的目标识别与状态估计方法]

作者：Zhang H.; Yang X.^*; Chen Y.

来源：Gaojishu Tongxin/Chinese High Technology Letters, 2019, 29(8): 772-777.

DOI：10.3772/j.issn.1002-0470.2019.08.006

• Kalman filter
• Matching similarity
• Surface fitting
• Target recognition
• The offset

In order to obtain the relative position relation between the landing platform and the micro air vehicle (MAV) when it lands in real time, a method of target recognition and state estimation based on the airborne vision of the micro-aircraft is put forward. The gradient direction and sub-pixel coordinates of the image edge of landing platform are obtained by using curved surface fitting method, which are used as matching information for similarity calculation. After successful matching, the motion characteristics of the mobile platform are simulated through the motion equation, and the position of the mobile platform is predicted by using Kalman filter. Finally, the offset is calculated. The experiment data can be used to calculate the position parameters of the aircraft and landing platform through geometric transformation. Experiment results show that the proposed algorithm can calculate the relative position relation between the aircraft and the visual landing identification in real time.

• 单位
  武汉科技大学