EMBEDDED AIRBORNE INFRARED IMAGE VISUAL NAVIGATION POSITIONING METHOD

摘要

Disclosed is an embedded airborne infrared image visual navigation positioning method. The method comprises: step one: reading an infrared original image f(x, y) collected by a camera, and processing the image by means of a background suppression algorithm to obtain a corrected image f₁(x, y); step two: respectively performing single-frame target detection and inter-frame comparison target detection on the corrected image f₁(x, y), and performing comprehensive determination on detection results to obtain a final detection result image f₂(x, y); obtaining the coordinates (x_c, y_c, z_c) of a target point in a camera system according to a mapping relationship between the camera system and an image system and according to a millimeter wave radar ranging result, wherein according to a default coordinate transformation matrix T being present between a vehicle body system and the camera system, it is possible to obtain the coordinates (x_b, y_b, z_b) of a target in the vehicle body system. The beneficial effects of the present invention are: improving image quality to facilitate subsequent positioning, preventing the influence of high-frequency noise, and positioning a target more accurately.