A Cumulative Error Suppression Method for UAV Visual Positioning System based on Historical Visiting Information

摘要

The cumulative error is one of the main factorsaffecting the accuracy of visual positioning system. How toeffectively suppress it has become a key issue for indoornavigation of unmanned aerial vehicle(UAV). In this paper, anew cumulative error suppression method based on historicalvisiting information (CES-HVI for short) is proposed, whichuses the historical visiting points in flight as virtual landmarksto correct the positioning result of UAV. Experiment resultsshow that the CES-HVI method can suppress the cumulativeerror in effect, improve the accuracy of visual positioningwithout pre-deploying landmarks in advance.