谭立超;

• 1:湖北警官学院基础课部

摘要(Abstract)：

针对全球定位系统（global positioning system,GPS）/北斗失能场景下无人机无法正常定位工作的情况，提出了一种基于单目相机和惯性传感器的状态估计方法。该方法采用单目相机和惯性测量单元（inertial measurement unit,IMU）联合估计无人机6自由度状态，通过运动建模迭代优化图像和IMU时间同步偏差，并以DBSCAN(density-based spatial clustering of applications with noise)聚类筛选鲁棒的视觉特征，用于提高定位精度、减少计算时间。在公共数据集上将所提方法与现有典型算法进行对比，结果表明，所提方法在定位精度与计算时间上取得了较优平衡。

关键词(KeyWords)： 运动建模;特征筛选;状态估计;单目视觉惯导系统;无人机

Abstract:

Keywords:

基金项目(Foundation):

作者(Authors): 谭立超;

DOI: 10.14188/j.1671-8844.2023-02-014

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