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提出了一种基于地标图像信息的惯导系统误差校正方法。该方法通过在地面设置一个标志点,采用无人机前视摄像头进行探测、人为识别的方式,辅助以磁罗盘来抑制航向角的发散趋势,高度通道用气压计来进行阻尼,进而解算无人机的位置信息,最后通过Kalman滤波器来实现对惯导系统的闭环修正。仿真结果表明,该方法不但能获得较高的定位/定向精度,而且提高了系统的自主性,对小型无人机对地观测、侦察能力的提升具有较大意义。
An error correction method of inertial navigation system based on landmark image information is proposed. In this method, a mark point is set on the ground, the UAV forward-looking camera is used for detection and man-made identification, and the magnetic compass is used to restrain divergence of the heading angle. The altitude channel is reduced by a barometer to solve the problem Man-machine location information, and finally through the Kalman filter to achieve closed-loop inertial navigation system correction. The simulation results show that this method can not only achieve high positioning / orientation accuracy, but also improve the autonomy of the system. This method is of great significance to the observation and reconnaissance capability of small UAV.