关键词: 视觉导航, 自测速, 序列图像, 匹配跟踪

Abstract: To measure the velocity of an unmanned aerial vehicle (UAV) independently and accurately, a method based on image sequences is presented and corresponding experiments are carried out. After matching and tracking ground features among the sequential images given by the visible or infrared camera, the method uses the frame rate and the flying parameters provided by the inertial sensors and laser rangefinders to obtain the instantaneous velocity. While the UAV is flying in uniform velocity, the average velocity is received by data processing. Flight test are performed, from which accurate results better than 0.2 m/s are received in real time. The experimental results can meet the requirements of the engineering standard, and thus lay a certain foundation for engineering application.

Key words: vision navigation, velocity measurement, image sequence, matching and tracking