| 基于UKF的视觉辅助末制导仿真研究 |
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| 引用本文： | 于俊伟,翁璐斌,靳小波,张德贤. 基于UKF的视觉辅助末制导仿真研究[J]. 传感器与微系统, 2011, 30(3): 60-62,66 |
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| 作者姓名： | 于俊伟 翁璐斌 靳小波 张德贤 |
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| 作者单位： | 1. 河南工业大学,信息科学与工程学院,河南,郑州,450001
2. 中国科学院,自动化研究所,北京100190 |
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| 基金项目： | 河南省创新型科技人才队伍建设工程资助项目 |
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| 摘 要： | 针对巡航导弹中段制导累积误差大的情况,在末制导段采用计算机视觉技术进行辅助制导.介绍了视觉制导的位姿估计方法,并利用无迹卡尔曼滤波器(UKF)对视觉和惯性制导系统进行信息融合,建立了视觉辅助末制导(VATG)的仿真控制模型.实验结果表明:该方法显著提高了末制导系统的精度和可靠性.
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| 关 键 词： | 视觉辅助末制导 无迹卡尔曼滤波器 仿真 |
Study on the simulation of vision aided terminal guidance based on UKF |
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| YU Jun-wei,WENG Lu-bin,JIN Xiao-bo,ZHANG De-xian. Study on the simulation of vision aided terminal guidance based on UKF[J]. Transducer and Microsystem Technology, 2011, 30(3): 60-62,66 |
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| Authors: | YU Jun-wei WENG Lu-bin JIN Xiao-bo ZHANG De-xian |
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| Affiliation: | YU Jun-wei1,WENG Lu-bin2,JIN Xiao-bo1,ZHANG De-xian1(1.College of Information Science and Engineering,Henan University of Technology,Zhengzhou 450001,China,2.Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China) |
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| Abstract: | A new VATG system is constructed to eliminate the accumulated error in the midcourse guidance.The visual pose estimation method is introduced to get the state parameters of the missile.The unscented Kalman filter(UKF)is used to fuse the information of the vision system and the inertial navigation system.The simulation control model of the vision aided terminal guidance is built up.The experimental results show that the precision and reliability of the terminal guidance system are significantly increased usi... |
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| Keywords: | vision aided terminal guidance(VATG) unscented Kalman filter(UKF) simulation |
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