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UAV Navigation System Autonomous Correction Algorithm Based on Road and River Network Recognition
Gyroscopy and Navigation Pub Date : 2021-02-19 , DOI: 10.1134/s2075108720040100
A. P. Tanchenko , A. M. Fedulin , R. R. Bikmaev , R. N. Sadekov

Abstract—The paper considers an original autonomous correction algorithm for UAV navigation system based on comparison between terrain images obtained by onboard machine vision system and vector topographic map images. Comparison is performed by calculating the homography of vision system images segmented using the convolutional neural network and the vector map images. The presented results of mathematical and flight experiments confirm the algorithm effectiveness for navigation applications.



中文翻译:

基于路网识别的无人机导航系统自主校正算法

摘要—本文基于机载机器视觉系统获得的地形图像与矢量地形图图像之间的比较,考虑了无人机导航系统的原始自主校正算法。通过计算使用卷积神经网络和矢量地图图像分割的视觉系统图像的单应性来进行比较。提出的数学和飞行实验结果证实了该算法在导航应用中的有效性。

更新日期:2021-02-19
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