|本期目录/Table of Contents|

[1]袁丁,王艳红,雒旭峰.基于自适应滤波的无人机视觉导航误差补偿方法研究*[J].中国安全生产科学技术,2023,19(6):193-198.[doi:10.11731/j.issn.1673-193x.2023.06.027]
　YUAN Ding,WANG Yanhong,LUO Xufeng.Study on error compensation method of UAV visual navigation based on adaptive filtering[J].Journal of Safety Science and Technology,2023,19(6):193-198.[doi:10.11731/j.issn.1673-193x.2023.06.027]
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基于自适应滤波的无人机视觉导航误差补偿方法研究*

《中国安全生产科学技术》[ISSN:1673-193X/CN:11-5335/TB]

卷:
19
期数:
2023年6期
页码:
193-198
栏目:
职业安全卫生管理与技术
出版日期:
2023-06-30

文章信息/Info

Title:
Study on error compensation method of UAV visual navigation based on adaptive filtering
文章编号:
1673-193X(2023)-06-0193-06
作者:
袁丁; 王艳红; 雒旭峰
（1.中国民航大学 飞行分校，天津 300300；
2.中国民用航空局 航空事故调查中心，北京 101399）
Author(s):
YUAN Ding;  WANG Yanhong;  LUO Xufeng
(1.College of Flight,Civil Aviation University of China,Tianjin 300300,China;
2.Aviation Accident Investigation Center,Civil Aviation Administration of China,Beijing 101399,China)
关键词:
自适应滤波; 无人机; 视觉导航; 经验模态分解; 本征模函数; 最小熵自聚焦法
Keywords:
adaptive filtering;  unmanned aerial vehicle (UAV);  visual navigation;  empirical mode decomposition;  intrinsic mode function;  minimum entropy self-focusing method
分类号:
V249；X949
DOI:
10.11731/j.issn.1673-193x.2023.06.027
文献标志码:
A
摘要:
为精确校准复杂自然环境下无人机的导航误差，提出基于自适应滤波的无人机视觉导航误差补偿方法。通过对视觉图像信号采取经验模态分解，构建无人机视觉导航图像的本征模函数，运用自适应滤波消除本征模函数噪声；采用长短期记忆网络构建无人机视觉导航误差的线性预测模型；考虑空变性残留误差和运动误差，运用子图像划分策略将图像分割成若干个迭代块，引入校准比例指数，利用最小熵自聚焦法完成无人机视觉导航的误差补偿任务。研究结果表明：基于自适应滤波的无人机视觉导航误差补偿方法具备良好的图像去噪效果，可以精确校准无人机视觉导航误差且鲁棒性较强。
Abstract:
In order to accurate calibration the visual navigation imaging of UAV is affected by the complex natural environment and flight state,and it is easy to generate navigation errors,an error compensation method of UAV visual navigation based on the adaptive filtering was proposed.The intrinsic mode function of the UAV visual navigation image was constructed by the empirical mode decomposition of visual image signals,and the noise in the intrinsic mode function was eliminated by adaptive filtering.A linear prediction model of UAV visual navigation error was constructed by using long-term and short-term memory networks to determine the degree of deviation.Considering the space-variant residual error and motion error,the sub image division strategy was used to divide the image into several iterative blocks,then the calibration scale index was introduced,and the minimum entropy self-focusing method was used to complete the error compensation task of UAV visual navigation.The results show that the error compensation method of UAV visual navigation based on adaptive filtering has good image denoising effect,it can accurately calibrate the UAV visual navigation error,and has strong robustness.

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备注/Memo

备注/Memo:
收稿日期： 2022-08-20
* 基金项目： 中央高校基本科研业务费自然科学一般项目（3122023028） 作者简介： 袁丁，硕士，讲师，主要研究方向为飞行安全技术与管理理论。
更新日期/Last Update: 2023-07-09