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为了实时、高精度地获得无人飞行器的飞行地速,提出了基于序列下视图像的无人飞行器速度精确测量方法。采用该方法的系统主要由安装在飞行器底部下视单目摄像机和机载DSP实时信息融合处理模块组成,同时需要由系统外输入飞行器当前的姿态和高度信息。在对连续图像的识别跟踪基础上,可以得到飞行器的瞬时速度。为了进一步提高速度的测量精度,可对一定时间段内的速度进行统计处理。数值仿真实验结果证明,方法简单易行,速度测量精度较高。
In order to obtain the ground velocity of UAVs in real time and with high precision, an accurate velocity measurement method of UAVs based on sequence under-view images is proposed. The system using this method is mainly composed of a monocular camera installed at the bottom of the aircraft and a real-time information fusion processing module of the on-board DSP, and needs to input the current attitude and altitude information of the aircraft outside the system. Based on the recognition and tracking of continuous images, the instantaneous velocity of the aircraft can be obtained. In order to further improve the speed of measurement accuracy, the speed of a certain period of time statistical processing. Numerical simulation results show that the method is simple and easy, and the speed measurement accuracy is high.