| 偏振光辅助定姿在基于光流自主导航中的应用 |
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| 引用本文： | 黄显林,刘佳琦,卢鸿谦.偏振光辅助定姿在基于光流自主导航中的应用[J].传感器与微系统,2011,30(1):137-140,144. |
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| 作者姓名： | 黄显林 刘佳琦 卢鸿谦 |
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| 作者单位： | 哈尔滨工业大学,控制理论与制导技术研究中心,黑龙江,哈尔滨,150001 |
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| 基金项目： | 中央高校基本科研业务费专项资金资助项目 |
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| 摘 要： | 根据大气偏振光分布特点和偏振光导航原理搭建三通道测量平台对偏振光信息进行采集,通过视觉图像特征的空间梯度瞬时变化率计算飞行器周围环境的稀疏光流场.结合大气偏振光与运动环境光流信息构造基于 GPS/惯导/偏振光/光流组合导航系统.分别对高度、姿态角和速度误差进行估计并进行算法仿真,结果表明:该方法具有较高精确度,对未来无...
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| 关 键 词： | 昆虫灵感 自然偏振光 光流 组合导航 |
Application of polarized-light-aided attitude determination in optical-flow-based autonomous navigation |
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| HUANG Xian-lin,LIU Jia-qi,LU Hong-qian.Application of polarized-light-aided attitude determination in optical-flow-based autonomous navigation[J].Transducer and Microsystem Technology,2011,30(1):137-140,144. |
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| Authors: | HUANG Xian-lin LIU Jia-qi LU Hong-qian |
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| Abstract: | Based on the characteristics of polarized light distribution in the air and navigation principle,a three-channel polarized light measurement platform is built up to collect polarization information.Optical flow can be determined by computing the ratio of spatial to temporal intensity gradients of the visual image's features.Polarized light information and optical flow information through Kalman filter is integrated to construct navigation system based on GPS,INS,polarized light and optical flow.The results of simulations and estimations of altitude,attitude angles,and velocity error of aircraft show that this method has high accuracy,and it provide a new navigation path to meet the challenges of Mars for UAVs. |
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| Keywords: | insect inspired natural polarized light optical flow integrated navigation |
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