CN112229405B - 一种基于图像跟踪与激光测距的无人机目标运动估计方法 - Google Patents
一种基于图像跟踪与激光测距的无人机目标运动估计方法 Download PDFInfo
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- CN112229405B CN112229405B CN202010939439.6A CN202010939439A CN112229405B CN 112229405 B CN112229405 B CN 112229405B CN 202010939439 A CN202010939439 A CN 202010939439A CN 112229405 B CN112229405 B CN 112229405B
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- 238000000034 method Methods 0.000 title claims abstract description 56
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/277—Analysis of motion involving stochastic approaches, e.g. using Kalman filters
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- Engineering & Computer Science (AREA)
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- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
- Feedback Control In General (AREA)
- Optical Radar Systems And Details Thereof (AREA)
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CN202010024541.3A CN110824453A (zh) | 2020-01-10 | 2020-01-10 | 一种基于图像跟踪与激光测距的无人机目标运动估计方法 |
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CN112229405A CN112229405A (zh) | 2021-01-15 |
CN112229405B true CN112229405B (zh) | 2024-03-26 |
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CN202010939439.6A Active CN112229405B (zh) | 2020-01-10 | 2020-09-09 | 一种基于图像跟踪与激光测距的无人机目标运动估计方法 |
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CN113141459B (zh) * | 2020-10-16 | 2022-04-05 | 北京理工大学 | 一种无人机机载视觉智能处理***及方法 |
CN112558051A (zh) * | 2020-11-30 | 2021-03-26 | 湖南傲英创视信息科技有限公司 | 基于ukf的光电吊舱稳定平台被动测距方法 |
CN113076634B (zh) * | 2021-03-24 | 2023-04-07 | 哈尔滨工业大学 | 一种多机协同无源定位方法、装置及*** |
CN113808161B (zh) * | 2021-08-06 | 2024-03-15 | 航天时代飞鹏有限公司 | 基于机器视觉的车载多旋翼无人机车辆跟踪方法 |
CN114445467A (zh) * | 2021-12-21 | 2022-05-06 | 贵州大学 | 基于视觉的四旋翼无人机特定目标识别与追踪*** |
CN114355974B (zh) * | 2021-12-30 | 2023-08-22 | 重庆擎羚科技有限公司 | 基于卡尔曼滤波的虚拟力导向无人机编队抖动消除方法 |
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CN107450577A (zh) * | 2017-07-25 | 2017-12-08 | 天津大学 | 基于多传感器的无人机智能感知***和方法 |
CN107993257A (zh) * | 2017-12-28 | 2018-05-04 | 中国科学院西安光学精密机械研究所 | 一种智能imm卡尔曼滤波前馈补偿目标追踪方法及*** |
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CN109141427A (zh) * | 2018-08-29 | 2019-01-04 | 上海理工大学 | 在非视距环境下基于距离和角度概率模型的ekf定位方法 |
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JP4144730B2 (ja) * | 2002-03-15 | 2008-09-03 | 三菱電機株式会社 | 目標追尾装置およびその方法 |
JP5247066B2 (ja) * | 2007-06-04 | 2013-07-24 | 三菱電機株式会社 | 目標追尾装置 |
US8825399B2 (en) * | 2008-07-24 | 2014-09-02 | Raytheon Company | System and method of passive and autonomous navigation of space vehicles using an extended Kalman filter |
CN103149939B (zh) * | 2013-02-26 | 2015-10-21 | 北京航空航天大学 | 一种基于视觉的无人机动态目标跟踪与定位方法 |
CN104597910B (zh) * | 2014-11-27 | 2017-11-07 | 中国人民解放军国防科学技术大学 | 一种基于瞬时碰撞点的无人机非协作式实时避障方法 |
CN107300697A (zh) * | 2017-06-07 | 2017-10-27 | 南京航空航天大学 | 基于无人机的运动目标ukf滤波方法 |
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