Small UAV localization method based on optical-flow and inertial navigation

SONG Yu; WENG Xin-wu; GUO Xin-gang

doi:10.13873/J.1000-9787(2015)01-0013-04

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Small UAV localization method based on optical-flow and inertial navigation

更新时间：2025-09-11

- Small UAV localization method based on optical-flow and inertial navigation
- Vol. 34, Issue 1, Pages: 13-16(2015)
- 作者机构：
  
  长春工业大学计算机科学与工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2015)01-0013-04
  CLC： V279;TP212
- Published：2015
- 稿件说明：
移动端阅览
[1]宋宇,翁新武,郭昕刚.基于光流和惯性导航的小型无人机定位方法[J].传感器与微系统,2015,34(01):13-16.

SONG Yu, WENG Xin-wu, GUO Xin-gang. Small UAV localization method based on optical-flow and inertial navigation[J]. 2015, 34(1): 13-16.
[1]宋宇,翁新武,郭昕刚.基于光流和惯性导航的小型无人机定位方法[J].传感器与微系统,2015,34(01):13-16. DOI： 10.13873/J.1000-9787(2015)01-0013-04.

SONG Yu, WENG Xin-wu, GUO Xin-gang. Small UAV localization method based on optical-flow and inertial navigation[J]. 2015, 34(1): 13-16. DOI： 10.13873/J.1000-9787(2015)01-0013-04.

摘要

为了提高小型无人机定位精度

提出了一种基于光流系统和惯性导航系统相结合的定位方法。在介绍光流传感器工作原理

建立光流数学模型和分析光流测量误差之后

提出了采用双光流传感器测量飞行器的高度和速度

并将二维光流信息与捷联惯性导航系统（SINS）通过扩展卡尔曼滤波器（EKF）进行数据融合

得到实时的位置、速度和姿态。室内实验结果表明:该方案能够有效地减小导航中的位置、速度和姿态误差

提高定位精度。

Abstract

To improve localization precision of small UAV

a localization method based on a kind of optical-flow system and its integration to an inertial navigation system is presented. After introduction of working mechanism of optical-flow sensor

establishment of mathematical models of optical-flow and analysis on measurement error of optical-flow

a dual optical-flow sensor is adopted to measure height and velocity of UAV

and real-time position

velocity and attitude can be obtained by using an extended Kalman filter（ EKF） to fuse the two-dimensional optical-flow information with strap-down inertial navigation system（ SINS）. The experimental results in indoor environment indicates that the proposed method can effectively improve localization precision and reduce error of navigation parameters such as position

velocity and attitude.

关键词

Keywords

references

微型二维光流传感器设计 [J]. 张洪涛,张广玉,李隆球,王林. 哈尔滨工程大学学报 . 2014(05)

基于光流追踪技术的变形位移测量方法 [J]. 于合龙,刘浩洋,苏恒强. 吉林大学学报(理学版) . 2014(02)

基于单目视觉的微型飞行器移动目标定位方法 [J]. 郭力,昂海松,郑祥明. 系统工程与电子技术 . 2012(05)

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