视觉/惯性着陆组合引导方法设计与试验
收稿日期: 2022-06-01
修回日期: 2022-06-16
录用日期: 2022-07-08
网络出版日期: 2022-07-21
基金资助
航空科学基金(201905011004)
Design and test of visual-inertial integrated method for landing guidance
Received date: 2022-06-01
Revised date: 2022-06-16
Accepted date: 2022-07-08
Online published: 2022-07-21
Supported by
Aeronautical Science Foundation of China(201905011004)
倪静 , 马波 , 杨朝旭 , 陶呈纲 , 周彦 , 胡逸雯 . 视觉/惯性着陆组合引导方法设计与试验[J]. 航空学报, 2023 , 44(S1) : 727636 -727636 . DOI: 10.7527/S1000-6893.2022.27636
To meet the requirement of UAV for visual-based landing guidance in complex environment， the limitations of visual positioning are analyzed through tests. A visual-inertial integrated method based on error state filtering is designed to solve the problem of high delay and misdetection outliers in visual landing guidance. Time synchronization method is used to compensate the delay of visual measurement results， and the detection of outliers is based on self-adaptive covariance of filter innovation. Finally， a flight test is carried out to collect and analyse the visual positioning and visual-inertial integrated data in landing process. The results show that the visual-inertial integrated method is stable and reliable，and that it can effectively improve the real-time performance and continuity of visual landing guidance.
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