基于视觉和渐消记忆UKF的浮空器位姿估测

提出了一种新的浮空器位姿估测方法,用地面上共面设置的四个固定信标和浮空器上双焦CCD摄像机组成单目视觉测量系统;应用四元数描述载体和大地直角坐标系间变换关系,在此基础上利用Levenberg-Marquardt迭代算法将地标图像观测量直接转化为位姿参数值,减少了计算量;合理地采用随机加速度模型构建滤波器状态方程,并引入渐消记忆因子改进平方根UKF滤波算法,用于抑制由于系统建模误差造成的滤波精度下降。对所提方案进行验证,比较了不同渐消记忆因子作用下的滤波结果,仿真结果表明了该方法的有效性。

Novel Method of Aerostat Pose Estimation Based on Vision and Fading Memory Unscented Kalman Filter

Using a monocular vision system constituted of four coplanar reference points on the ground and a double-focus CCD camera in the aerostat,a new method for estimating the pose of aerostat was proposed.The quaternion was used to represent the transform relation between geodetic coordinate system and aerostat coordinate system,and on this basis the Levenberg-Marquardt algorithm was utilized to transform landmark image observations to pose parameters as a part of observations for the filter,which significantly ...