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IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics  2020, Vol. 2 Issue (4): 181-189    DOI: https://doi.org/10.1049/iet-csr.2020.0029
    
基于单元对偶四元数的视觉跑道观测结果位姿优化算法
Galen Brambley and Jonghyuk Kim
Unit dual quaternion-based pose optimisation for visual runway observations
Galen Brambley and Jonghyuk Kim
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摘要： 本研究解决了在着陆进近场景中，基于视觉观测的机场跑道位姿估计问题。作者利用了大多数跑道的大地坐标可以通过高度可见的标记精确知道的事实以解决该问题。跑道观测可以增加着陆进场时的态势感知水平，提供额外的导航冗余，减少对全球定位系统的依赖。作者提出了一种使用单元对偶四元数对单目相机获得的跑道角观测结果进行位姿优化的新算法，并且使用扩展卡尔曼滤波器将所获得的跑道位姿结果与惯性导航系统进一步融合。最后，本文使用一个开源飞行模拟器采集和处理着陆过程的视觉和飞行数据，并验证了该跑道位姿估计算法和改进的惯性导航解决方案的可靠性。
Abstract: This study addresses the pose estimation problem of an aircraft runway using visual observations in a landing approach scenario. The authors utilised the fact that the geodetic coordinates of most runways are known precisely with highly visible markers. Thus, the runway observations can increase the level of situational awareness during the landing approach, providing additional redundancy of navigation and less reliance on global positioning system. A novel pose optimisation algorithm is proposed utilising unit dual quaternion for the runway corner observations obtained from a monocular camera. The estimated runway pose is further fused with an inertial navigation system in an extended Kalman filter. An open-source flight simulator is used to collect and process the visual and flight dataset during the landing approach, demonstrating reliable runway pose estimates and the improved inertial navigation solution.
出版日期: 2021-04-14
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Galen Brambley and Jonghyuk Kim

引用本文:

Galen Brambley and Jonghyuk Kim. Unit dual quaternion-based pose optimisation for visual runway observations. IET Cyber-Systems and Robotics, 2020, 2(4): 181-189.

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http://www.zjujournals.com/iet-csr/CN/ https://doi.org/10.1049/iet-csr.2020.0029    或    http://www.zjujournals.com/iet-csr/CN/Y2020/V2/I4/181

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