视觉/惯性着陆组合引导方法设计与试验

doi:10.7527/S1000-6893.2022.27636

Abstract

Abstract:

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.

Key words: landing guidance, runway detection, visual-inertial integrated, Kalman filter, flight test

CLC Number:

V249

Jing NI, Bo MA, Zhaoxu YANG, Chenggang TAO, Yan ZHOU, Yiwen HU. Design and test of visual-inertial integrated method for landing guidance[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S1): 727636.

Figures/Tables 10

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References 15

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方向	视觉定位			惯性导航			组合滤波
方向	标准差/m	平均误差/m	最大误差/m	标准差/m	平均误差/m	最大误差/m	标准差/m	平均误差/m	最大误差/m
跑道纵向	16.28	-0.36	-90.66	4.78	-7.86	-20.91	11.6	2.45	30.04
跑道侧向	1.47	-1.08	-6.29	0.78	0.99	2.39	1.41	-1.03	-4.93
跑道天向	2.51	2.36	10.2	1.04	1.72	3.8	2.32	2.38	6.3

方向	视觉定位			惯性导航			组合滤波
方向	标准差/m	平均误差/m	最大误差/m	标准差/m	平均误差/m	最大误差/m	标准差/m	平均误差/m	最大误差/m
跑道纵向	11.91	-5.04	-90.66	3.52	-11.99	-20.91	2.15	-7.7	-12.74
跑道侧向	0.88	-0.12	3.05	0.4	1.75	2.39	0.3	-0.04	0.66
跑道天向	1.12	1.24	3.7	0.55	2.7	3.8	0.85	1.51	3.18

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Design and test of visual-inertial integrated method for landing guidance

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