GPS/SINS Navigation Method of Unmanned Aerial Vehicles Based on Vision Aids

摘要

In this paper, the GPS/SINS of the UAV (Unmanned Aerial vehicle) integrated navigation is introduced and the problems of the GPS/SINS in the UAV navigation application are also analyzed. It proposes a GPS/SINS integrated navigation system based on vision AIDS. It design the GPS/SINS integrated navigation filter based on vision aids, and gives out the filter state equations and deduces filter observation equation. The the polar constraint between images and expounds the calculation method of camera displacement projection based on polar projection are introduced, and related simulations are made. The simulation experiments show that through introducing cameras shift information observed by the vision system, it can improve the observation of heading angle error in the integrated navigation, and solve the problem of heading angle error convergence in the UAV flying state of the GPS/SINS integrated navigation system, and it can improve the precision and speed of the UAV attitude angle estimation.