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,对未来无人机火星探索应对特殊环境挑战提供新的导航途径。
Based on the characteristics of polarized light distribution in the air and navigation principle, a threechannel polarized light t 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.
出处
《传感器与微系统》
CSCD
北大核心
2011年第1期137-140,144,共5页
Transducer and Microsystem Technologies
基金
中央高校基本科研业务费专项资金资助项目(HIT.NSRIF.2009006)
关键词
昆虫灵感
自然偏振光
光流
组合导航
insect inspired
natural polarized light
optical flow
integrated navigation
作者简介
黄显林（1956-），男，山东蓬莱人，教授，博士生导师。主要从事组合导航、复杂系统控制研究。
