ACTA AERONAUTICAET ASTRONAUTICA SINICA >
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)
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.
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 AERONAUTICAET ASTRONAUTICA SINICA, 2023 , 44(S1) : 727636 -727636 . DOI: 10.7527/S1000-6893.2022.27636
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